Lenze E94P PositionServo with MVOB - Manual (Page 95)

PM94H201B_13xxxxxx_EN L 93
Reference
Table 42: LOADVARS
LOADVARS EPM access statements LOADVARS Statement
Purpose LOADVARS is the command to retrieve the values of the user variables (V0-V31) from the drive’s
EPM. Using this statement any combinations of variables V0-V31 can be retrieved from the EPM with
a single statement. Loads the values of the user’s variables (V0-V31) from EPM to the drive operating
memory.
Syntax LOADVARS [Va, Vx-Vy]
a,x,y any number from 0 - 31
Remarks Values that are stored in EPM memory for the User Variables V0-V31 (using host interface or
StoreVars command) are automatically transferred into operational memory at power up (a LoadVar
statement is not required). Should a User Variable be altered by the user program it is altered only in
the operational memory of the drive and can be restored back to its EPM value using the LoadVars
statement.
See Also STOREVARS
Example:
…{statements}…
V1=12
STOREVARS [V1] ;Store V1 variable to EPM memory
…{statements}…
LOADVARS [V1] ;Retrieve V1 variable
…{statements}…
END ;End main program
---------------------------------------------------------
;Example to specify multiple variables list in a single LoadVar Statement
LOADVARS [V0,V1,V5-V20] ;load values of V0, V1, V5-V20
---------------------------------------------------------
Table 43: MDV
MDV Segment Move Statement
Purpose MDV (Move-Distance-Velocity) defines individual motion segment by specifying distance and final
velocity (for each segment) in User Units. Acceleration (or deceleration) is calculated automatically
based on these two parameters. This technique allows complicated moves to be created that consist
of many segments. Each MDV sequence (series of MDV segments) must start and end with a
velocity of 0, hence an MDV sequence must have at least two segments. The MDV statement doesn’t
suspend execution of the main program. Each segment is loaded into the Motion Queue and the
sequence executed sequentially. If the last segment in the Motion Queue doesn’t have a final velocity
of 0, the drive will generate a “Motion Stack Underflow” fault #24. If the “S” modifier is used in the
statement, then the velocity acceleration/deceleration will be S-curved as opposed to linear.
Syntax MDV <[-]segment distance>,<segment final velocity> [,S]
[,S] optional modifier specifies S-curve acceleration / deceleration.
See Also MOVE, MOVEP, MOVEPR, MOVED, MOVEDR, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MDV 5, 10
;Move 5 user units and accelerate to a velocity of 10
MDV 10,10 ;Move 10 user units and maintain a velocity of 10
MDV 10,5 ;Move 10 user units and decelerate to velocity of 5
MDV 5,0 ;Move 5 user units and decelerate to velocity 0.
;The last MDV must have a final velocity of 0.
{Statements…}