Lenze PMSS1000 Simple Servo Manuel d'utilisateur télécharger pdf (Page 64)

Indexer-Programmer-Manual.pdf REV 1.3

MOVEP Move to Position Statement

Purpose MOVEP performs motion to specified absolute position in User Units. Valid range for

Absolute position from -231 to 231 Statement suspends the program execution until

motion is completed unless statement is used with C modifier. If "S" modifier is used

S-curve accel is performed during the move. After enabling indexer (by execution of

statement or Host Interface command) absolute position is reset to zero. Current

Absolute position can be set at any time by setting System Variable APOS to any

valid numeric value. APOS=300 makes current position to be 300 User Units.

Syntax MOVEP <absolute position>[,S] [,C]

C[ontinue] optional modifier allows program to continue while motion is

performed. If the other motion is not completed yet requested

motion is placed in motion stack. Motion stack is 16 entries deep.

If there is no more stack space fault will result. Programmer

should check F_MQUEUE_FULL system flag to see if there is

available space.

S[-curve] optional modifier specifies S-curve acceleration.

See Also MOVE, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION

RESUME

Example:

{Statements…}

MOVEP 3 ;moves to 3 user units absolute position

{Statements…}

MOVEDR Registered Distance Move Statement

Purpose MOVEDR performs incremental motion (distance) specified in User Units. If during

motion registration input has been activated then current position is recorded.

Displacement (second statement argument) is added to recorded position to form new

target position. The end of the move is then altered to new target position. Statement

suspends the program execution until motion is completed unless statement is used

with C modifier.

Syntax MOVEDR <distance>,<displacement> [,C]

C[ontinue] optional modifier allows program to continue while motion is

performed. If the other motion is not completed yet requested

motion is placed in motion stack. Motion stack is 16 entries deep.

If there is no more stack space a fault will result. Programmer

should check F_MQUEUE_FULL system flag to see if there is

available space.

See Also MOVE, MOVEP, MOVEPR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME

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Lenze PMSS1000 Simple Servo Manuel d'utilisateur Page 64