ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 29)

BG - Begin Motion
Purpose:
Immediately starts the next programmed motion.
In software speed mode (UM=2), BG activates the latest JV, and also the new
smooth factor (SF), acceleration (AC) and deceleration (DC).
In stepper or position mode (UM=3, 4 or 5), BG starts the latest position mode
programmed: a point-to-point motion (PA), a jogging motion (JV) or any type
of tabulated motion (PVT or PT).
Each motion mode starts with its entire set of parameters. For example, starting a
point-to-point motion activates the present value of acceleration (AC), deceleration
(DC), smooth factor (SF) and speed (SP).
The BG command may be used to modify the parameters of the present mode, and not
only to program new modes. For example, a BG command in point-to-point mode
modifies the active AC parameters (and all other active motion parameters) with its
last programmed value.
A “hardware BG” can be accepted via one of the digital inputs (refer to the IL[N]
command).
Attributes: Type: Command, No value
Source: Program, RS-232, CANopen
Restrictions: MO=1
Unit modes:
UM=2, 3, 4, 5
Activation: Immediate
SimplIQ: Similar
Notes:
In position mode (UM=3, 4, 5), BG does nothing if a motion mode (JV,
PA, PV, PT) was not previously submitted.
In “Quick stop” mode (refer to the Elmo CANopen Implementation
Guide), BG is blocked and returns an error. “Quick stop” mode can be
command controlled by a CAN master using the DS402 standard
control word (object 0x6040).
See also:
IL[N] , BT
Application notes:
The Position Reference Generator
The speed software command
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
21