Lenze E94P PositionServo with MVOB - Manual (Page 97)

PM94H201B_13xxxxxx_EN L 95
Reference
Table 47: MOTION SUSPEND
MOTION SUSPEND Suspend Statement
Purpose This statement is used to temporarily suspend execution of motion. The Motion Suspend command
does not flush the Motion Queue of any accumulated motion commands but will suspended further
motion until the Motion Resume command is processed. If this statement is executed while a motion
profile is already being processed, then the motion will not be suspended until after the completion
of of the current motion profile. If executing a series of segment (MDV) moves, motion will not be
suspended until after all the MDV segments have been processed. Any subsequent motion statement
will be loaded into the queue and will remain there until the “Motion Resume” statement is executed.
Any motion statements executed without the “C” modifier (except MDV statements) while motion is
suspended will lock-up the User Program.
Syntax MOTION SUSPEND
Remarks Performing any MOVEx commands without “C” modifier will lock-up the user program. The
programmer will be able to unlock program execution only by performing a Reset or by issuing a
Motion Resume command from a host interface.
See Also MOVE, MOVEP, MOVEDR, MOVED, MOVEPR ,MDV, MOTION RESUME
Example:
…{statements}
MOTION SUSPEND
;Motion will be suspended after current motion
;command is finished.
…{statements}
Table 48: MOVE
MOVE Move Statement
Purpose There are two variations to the Move command, Move Until and Move While. MOVE UNTIL performs
motion until a logical condition becomes TRUE. MOVE WHILE performs motion while a logical condition
stays TRUE. The statement suspends the programs execution until the motion is completed, unless the
statement is used with C modifier.
Syntax MOVE [BACK] UNTIL <condition> [,C]
MOVE [BACK] WHILE <condition> [,C]
BACK
Changes direction of the move to negative.
C (optional) C[ontinue] - modifier allows the program to continue while motion is being performed. If a
second motion profile is executed while the first profile is still in motion, the second profile
will be loaded into the Motion Stack. The Motion Stack is 32 entries deep. If the queue
becomes full, or overflows, then the drive will generate a fault.
<condition> The condition to be tested.
See Also MOVEP, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVE UNTIL V0<3
;Move until V0 is less than 3
MOVE BACK UNTIL V0>4 ;Move back until V0 is greater than 4
MOVE WHILE V0<3 ;Move While V0 is less than 3
MOVE BACK WHILE V0>4 ;Move While V0 is greater than 4
MOVE WHILE V0<3,C ;Move While V0 < 3, continue program execution