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SMD23E2 and SMD24E2 User’s Manual
M
OTION
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ONTROL
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Controlling Moves In Progress
Each SMD23E2 and SMD24E2 has the ability to place a running move on hold and later resume the move if
an error did not occur while the move was in its Hold state. One potential application for this feature is bring-
ing a move to a controlled stop when your controller senses an end-of-stock condition. The move can be put
in its Hold state until the stock is replenished and then the move can be resumed.
Note that you do not have to resume a move once it has been placed in its Hold state. You can place a move in
its Hold state to prematurely end the move with a controlled stop and issue a new move of any type from the
stopped position.
The figure below shows a profile of a move that is placed in its Hold state and later resumed.
Figure R2.13 Hold/Resume a Move Profile
Jog Moves
Jog Moves can be placed in a Hold state and resumed if error conditions, such as programming errors, have
not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be written to the
SMD23E2 or SMD24E2 while a Jog Move is in its hold state. If these parameters are accepted without error,
the move can be resumed and it will use the new parameter values.
Registration Moves
Registration Moves can be brought to a controlled stop with the Hold bit, but they cannot be restarted.
Absolute and Relative Moves
Absolute and Relative Moves can be placed in a Hold state and resumed if error conditions, such as program-
ming errors, have not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be
written to the SMD23E2 or SMD24E2 while these moves are in their hold states. If the parameters are
accepted without error, the move can be resumed and it will use the new parameter values. Note that a change
to the Target Position is ignored.
Assembled Moves
A Blend or Dwell Move can be placed in a Hold state but cannot be resumed. This give you the ability to pre-
maturely end an Assembled Move with a controlled stop. The Assembled Move is not erased from memory
and can be run again without having to reprogram it.
SP
EE
D
POSITION
Move
Complete
Position Held for a length of time.
Move resumes when Resume Bit activates.
