MC-Basic:element.STARTTYPE

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This property determines the point in time at which the next motion command begins. It is relevant when a motion command is issued while a previous motion command is still being executed. The INPOSITION option is the most stringent condition for motion completion.

This property is used inside a motion command to override the permanent value.

1 - IMMEDIATE:  The motion command is executed immediately from the system current position does not wait for the current motion command to complete. The current move is cancelled and any buffered move is delayed until the IMMEDIATE command is executed.

2 - INPOSITION:  The motion command is executed when the ISSETTLED flag is set. This means the system accomplished its previous motion and reached the required position.

3 - GENERATORCOMPLETED:  The motion command executes when the profiler has completed the generation of the last motion command reference.

4 - SYNC: The start of the motion is synchronized by the SYNCSTART command.

5 - SUPERIMMEDIATE: Similar to IMMEDIATE, but the computation of the command is done in realtime rather than in the background.


DANGER.svgDANGER
Use IMMEDIATE and SUPERIMMEDIATE on single axis motion, usage in groups/robots can lead to undesired effects (jumps).

The INPOSITION option is the most stringent condition for motion completion. This property is used inside a motion command to override the permanent value

Syntax

<element>.StartType = <expression>

?<element>.StartType

Availability

All versions

Type

Long

Range

1 to 5

Default

3

Scope

Configuration, Task or Terminal

Limitations

This property cannot be used within a motion command. To set the value within a task, the element must be attached to that task (using the ATTACH command).

Examples

Axis
A1.Strattype - InPosition
Move A1 100 StratType = Immed

Group
G1.StartType = InPosition
Move G1 {100, 200} StartType = Immed

See Also