Lenze E94P PositionServo with MVOB - Manual (Page 55)

PM94H201B_13xxxxxx_EN L 53
Programming
2.11.11 Motion Queue and Statement Execution while in Motion
By default when the program executes a MOVE, MOVED or MOVEP statement, it waits until the motion is complete
before going on to the next statement. This effectively will suspend the program until the requested motion is complete.
Note that “EVENTS” are not suspended however and continue executing in parallel with the User Program. The Continue
“C” argument is very useful when it is necessary to trigger an action (handle I/O) while the motor is in motion. Below is
an example of the Continue “C” argument.
;This program monitors I/O in parallel with motion:
START:
MOVED 100,C ;start moving max 100 revs
WHILE F_MCOMPLETE=0 ;while moving
IF IN_A2 == 1 ;if sensor detected
OUT1=1 ;turn ON output
WAIT TIME 500 ;500 mS
OUT1=0 ;turn output OFF
WAIT TIME 500 ;wait 500 ms
ENDIF
ENDWHILE
MOVED -100 ;Return back
WAIT TIME 1000 ;wait time
GOTO START ;and start all over
END
This program starts a motion of 100 revolutions. While the motor is in motion, input A2 is monitored. If Input A2 is made
during the move, then output 1 is turned on for 500ms and then turned off. The program will continue to loop in the
WHILE statement, monitoring input A2, until the move is completed. If input 2 remains ON, or made, during the move,
then Output 1 will continue to toggle On and Off every 500ms until the move is complete. If input A2 is only made while
the motion passes by a sensor wired to the input, then output 1 will stay on for 500ms only. By adding the “Continue”
argument “C” to the MOVE statement, the program is able to monitor the input while executing the motion profile.
Without this modifier the program would be suspended until all motion is complete. After the motor has traveled the full
distance it then returns back to its initial position and the process repeats.
Figure 21 illustrates the structure and operation of the Motion Queue. All moves are loaded into the Motion Queue
before they are executed. If the move is a standard move, “MOVEP 10” or “MOVED 10”, then the move will be loaded
into the queue and the execution of the User Program will be suspended until the move is completed. If the move has
the continue argument, e.g. “MOVEP 10,C” or “MOVED 10,C”, or if it is an “MDV” move, then the moves will be loaded
into Motion Queue and executed simultaneously with the User Program.