Lenze E94P PositionServo with MVOB - Manual (Page 51)

PM94H201B_13xxxxxx_EN L 49
Programming
Velocity
Trapezoidal moves
Velocity
Velocity
Velocity
Velocity Limit (20)
Velocity Limit (20)
Velocity Limit (20)
Velocity Limit (20)
Time
Time
Time
Time
Move 2: 1.5 units Move 1: 4 Units
Move 4: 1.5 units, with S-curve Move 3: 4 units, with S-curve
MOVE 1 MOVE 2
MOVE 3 MOVE 4
S-curve moves
Figure 19: Move Illustration
All four of the moves shown in Figure 19 have the same Acceleration, Deceleration and Max Velocity values. Moves
1 and 3 have a larger value for the move distance than Moves 2 and 4. In Moves 1 and 3 the distance is long enough
to allow the motor to accelerate to the profiled max velocity and maintain that velocity before decelerating down to a
stop. In Moves 2 and 4 the commanded distance is so small that the calculated point of deceleration occurs before
the motor has reached the profiled Maximum velocity. On reaching the calculated deceleration point the drive will start
decelerating the motor in order to arrive at the commanded target position.
2.11.3 Incremental (MOVED) Motion
Incremental motion is defined as a move of some distance from the current position. ‘Move four revolutions from the
current position’ is an example of an incremental move.
MOVED is the statement used to create incremental moves. The simplified syntax is:
MOVED <+/-distance>
+/- sign will tell the drive in which direction to move the motor shaft.
2.11.4 Absolute (MOVEP) Move
Absolute motion is defined as motion that is always specified relative to the same ‘known’ location. The location that
each move is specified relative to is termed the zero (0) position. For example an absolute move of 20 will result in a
move to a position that is 20 user units from the zero position regardless of whether the current shaft location is less
than or greater than this commanded position (required motion is forward or reverse). The Zero position is normally
established during a homing cycle performed after power up where the programmer specifies (using a switch or other
device) a known point within the system mechanics from where they will reference all further motion.
If an incremental move is repeated (e.g. MoveD 10) then a subsequent move will result as motion is relative to the
position of the shaft at the point the motion is initiated. If an absolute move is repeated (e.g. MoveP 10) then only one
motion is executed as the subsequent target position commanded is already equal to the motor shaft’s current position.