Point-to-point, Command: move absolute (20), Move absolute (20) – Delta RMC151 User Manual
Page 731: As move, Absolute (20), o, Move, Absolute (20), A move
8 Command Reference
8.4.5. Point-to-Point
8.4.5.1. Command: Move Absolute (20)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 1.00 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description
Range
1 Requested Position (position-units)
any
2 Requested Speed (position-units/s)
≥0
3 Acceleration Rate (position-units/s
2
)
>0
4 Deceleration Rate (position-units/s
2
)
>0
5 Direction
•
Negative* (-1)
•
Nearest (0)
•
Positive* (1)
•
Current* (2)
•
Absolute* (3)
* These options are intended for use with rotary axes.
However, all options are available on linear axes, but have no
effect. For more details, see the Using Rotary Motion topic.
a valid integer as
described
Description
This command moves the axis in closed loop control from wherever the axis happens to
be when the command is issued to the Requested Position using the Requested
Speed, Acceleration Rate, and Deceleration Rate. The axis will stop at the
Requested Position and hold that position in closed-loop control. If the axis is moving
when this command is issued, it will start at that velocity and ramp to the requested
velocity.
The Direction parameter is required only for rotary axes. For linear axes, it has no effect,
and may be left at the default of Nearest (0).
The Move Absolute command generates a profile as shown in the plot below. The
acceleration and deceleration are rounded, producing an "s-curve" velocity profile for
smoother starts and stops.
Legend:
— Target Position
— Target Velocity
— Target Acceleration
deltamotion.com
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