Al Armin Posted June 28, 2022 Share Posted June 28, 2022 There are multiple conditions for a move to be processed, in the motion controllers (IQ-F, IQ-R, IQ, L): 1. Servo on 2. No errors 3. Home has been completed 4. The motion is not busy 5. The has servo homed in a jog circuit that is not necessary 6. The move position has no interlocks for servo ready and home competed (nothing in code proventing the signal) The way we typically do this, is when the servo is on and no errors then we have a servo ready bit that we interlock with any move commands - Also there are busy bits that we check before starting to make sure an axis is not busy - Make sure that you are not doing more than one command at a time. - Use below IO to see if there is any error and if the axis is busy. This is more of a start condition than a interlock being that when asking to move the busy bit will change state. Quote Link to comment Share on other sites More sharing options...
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