Lenze E94P PositionServo with MVOB - Manual (Page 52)

50 L PM94H201B_13xxxxxx_EN
Programming
2.11.5 Registration (MOVEDR MOVEPR) Moves
MovePR and MoveDR are move commands subject to (modified by) the drive registration input (C3) activating. They
are defined as registration moves as their function is to capture a position based on a sensor input and then move to
a subsequent position determined by the captured position plus an offset. Registered move commands contain two
motion arguments, the first defining the initial move to attempt detection of registration, and the second defining the
modified motion to complete subject to registration being detected.
The difference between MoveDR and MovePR is that MoveDR is incremental and performs the initial move subject to
its current position while checking for registration. MovePR is absolute so initial target position (motion) is referenced to
the absolute zero position.
If registration is not detected during a MoveDR or MovePR command then the initial move commanded by the first
motion argument will be completed and the registration flag will not be set. If registration is detected then both MoveDR
or MovePR will modify target position to the captured registration position (stored in the RPOS variable) plus the second
motion argument. If registration is detected then the registration flag will be set to true (1).
MOVEPR and MOVEDR are used to move to position or distance respectively just like MOVEP and MOVED. The
difference is that while the statements are being executed they are looking for a registration signal or registration input
(C3). If during the motion a registration signal is detected, then a new end position is generated. With both the MoveDR
and MovePR statements the drive will increment the distance called out in the registration argument. This increment will
be referenced from the position where the registration input has detected.
Example:
MOVEDR 5, 1 ;Statement moves a distance of 5 user units or registration position +
;1 user units if registration input is activated during motion.
There are two exceptions to the behavior of registration moves.
Exception one:
The move will not be modified to “Registration position +displacement” if the registration was detected while sys-
tem was decelerating to complete the initial motion command.
Exception two:
Once the registration input is detected, there must be enough distance set by the second argument to allow for
the motor to decelerate to a stop using the profiled Decel Value. If the modified registration move is smaller than
the distance necessary to come to a stop, then the motor will overshoot the programmed registration position.
Over-shoot of the target position is not rectified automatically, either realistic arguments must be entered for the
registered move command and deceleration rate or a comparison statement used to detect and rectify over-shoot.
2.11.6 Segment Moves
In addition to the simple moves that can be generated by MOVED and MOVEP statements, complex profiles can be
generated using segment moves. A segment move represents one portion of a complete move. A complete move is
constructed out of two or more segments, starting and ending at zero velocity.
2.11.7 MDV Segments
Profiles are created using a sequence of MDV statements. The simplified syntax for the MDV (Move Distance with
Velocity) statement is:
MDV < distance>,<velocity>
The <distance> is the total distance completed during the segment move. The <velocity> is the target velocity for the
end of the segment move. The starting velocity is either zero or the final velocity of the previous segment. The final
segment in a complete profile must have a velocity of zero. If the final segment has a velocity other than zero, a motion
stack under flow fault will occur (F_24).