Lenze E94P PositionServo with MVOB - Manual (Page 30)

28 L PM94H201B_13xxxxxx_EN
Introduction
Here is the user program for the segment move example. The last segment move must have a “0” for the end velocity,
(MDV 5 , 0). Otherwise, fault F_24 (Motion Queue Underflow), will occur.
;Segment moves
LOOP:
WAIT UNTIL IN_A4==0 ;Wait until input A4 is off before starting the move
MDV 3 , 56 ;Move 3 units accelerating to 56 User Units per sec
MDV 3 , 12 ;Move 3 units decelerating to 12 User Units per sec
MDV 4 , 16 ;Move 4 units accelerating to 16 User Units per sec
MDV 2 , 57 ;Move 2 units accelerating to 57 User Units per sec
MDV 2.5 , 57 ;Move 2.5 units maintaining 57 User Units per sec
MDV 3 , 11 ;Move 3 units decelerating to 11 User Units per sec
MDV 5 , 20 ;Move 5 units accelerating to 20 User Units per sec
MDV 5 , 0 ;Move 5 units decelerating to 0 User Units per sec
WAIT UNTIL IN_A4==1 ;Wait until input A4 is on before looping
GOTO LOOP
END
NOTE
When an MDV move is executed, the segment moves are stored to a Motion Queue. A maximum
of 32 moves (MDV segments) can be held on the Motion Queue at any one time. When a move or
segment is completed it is cleared from the Motion Queue. If the program attempts to place more
than 32 moves in the Motion Queue (because motion is complex or the program continuously
loops on itself) then a fault 23 (F_23) will occur to indicate motion queue overflow.
Since a series of MDV segments need to be loaded quickly to the Motion Queue, the
[Step]
debugging feature can not be used.
1.10.4 Registration
Both absolute and incremental motion can be used for registration moves. The statements associated with these moves
are MOVEPR and MOVEDR. These statements have two arguments. The first argument specifies the commanded
move distance or position. The second argument specifies the move made after the registration input is detected. If the
registration move is an absolute move, for MovePR, the first argument is absolute (referenced to the 0 position), the
second argument is relative to the registration position. For MoveDR, both arguments are relative. The first is relative to
the shaft position when motion is started and the second is relative to the registration position.
Position Registration
Input is made
Commanded
Move
Registration
Move
Registration Move
Figure 12: Registration Move