Lenze E94P PositionServo with MVOB - Manual (Page 98)

96 L PM94H201B_13xxxxxx_EN
Reference
Table 49: MOVED
MOVED Move Distance Statement
Purpose MOVED performs incremental motion (distance) specified in User Units. This statement will suspend the
program’s execution until the motion is completed, unless the statement is used with the “C” modifier. If
the “S” modifier is used then S-curve acceleration/deceleration is performed during the move.
Syntax MOVED <distance>[,S] [,C]
C[ontinue]
The “C” argument is an optional modifier which allows the program to continue executing
while the motion profile is being executed. If the drive is in the process of executing a
previous motion profile the new motion 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.
S[-curve] optional modifier specifies S-curve acceleration/deceleration.
Remarks Maximum variable size is 2^32 * Units/QPPR. This is the max value for Var_APOS_Pulses. Maximum
distance is then this maximum value that can be held in a variable divided by the feedback pulses. So
assume a 4096 ppr encoder. Post quad = 16384. Max distance before register overflow = 131072. For
resolver = 32768.
For MoveD, absolute position is not a concern. If overloaded, the register will simply roll over.
See Also MOVE, MOVEP, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVED 3 ;moves 3 user units forward
MOVED BACK 3 ;moves 3 user units backward
MOVED -3 ;moves 3 user units backward
MOVED V5 ;moves distance / direction determined by value in v5
{Statements…}
Table 50: MOVEDR
MOVEDR Registered Distance Move Statement
Purpose MOVEDR performs incremental motion, specified in User Units, in search of the registration input.
If during the move the registration input becomes activated (goes high) then the current position is
recorded, and the displacement value (the second argument in the MOVEDR statement) is added to
the captured registration position to form a new target position. The end of the move is then altered
to this new target position. This statement suspends execution of the program until the move is
completed, unless the statement is used with the “C” modifier. If the “S” modifier is used then S-curve
acceleration/deceleration is performed during the move.
Syntax MOVEDR <distance>,<displacement> [,S] [,C]
C[ontinue]
The “C” argument is an optional modifier which allows the program to continue
executing the User Program while a motion profile is being processed. If a new motion
profile is requested while the drive is processing a move the new motion 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.
S[-curve] optional modifier specifies S-curve acceleration/deceleration.
See Also MOVE, MOVEP, MOVEPR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME
Example: This example moves the motor 3 user units while checking for the registration input.
If registration isn’t detected then the move is completed.
If registration is detected, the registration position is recorded and the displacement value of 2 is
added to the recorded registration position to calculate the new end position.
{Statements…}
MOVEDR 3, 2
{Statements…}