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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 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

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).

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Elmomc SimplIQ Command Reference Manual do Utilizador Página 23