General procedure

To activate and start the operating mode, the variables must be set in a certain order. Using the example of "Velocity" mode, the following figure shows the order in which the variables must be set and which output comes from the stepper motor module. When one mode is being activated, no other mode may be activated.

A mode is started in the following order:

No.	Input variable		No.	Output variable
[1]	`xActivate := TRUE` Velocity mode is being activated.	–	–	–
[2]	`xStart := TRUE` The movement of the motor is being started.	→	[3]	`xBusy = TRUE`
[2]		→	[4]	`xBusyExecuteMovement = TRUE`
[5]	Control variables

As long as xStart is set to TRUE, you can transfer new setpoints for speed, acceleration, or deceleration via the control variables, which are applied and executed directly. The instruction is implemented directly.

Modes are deactivated in the following order:

No.	Input variable		No.	Output variable
[2]	`xStart := FALSE` Movement of the motor is stopped.	→	[3]	`xBusy = FALSE`
→	[4]	`xBusyExecuteMovement = FALSE`
[1]	`xActivate := FALSE` Velocity mode is deactivated.

No.

Input variable

No.

Output variable

[2]

xStart := FALSE

Movement of the motor is stopped.

→

[3]

xBusy = FALSE

→

[4]

xBusyExecuteMovement = FALSE

[1]

xActivate := FALSE

Velocity mode is deactivated.