Lenze E94P PositionServo with MVOB - Manual (Page 99)

PM94H201B_13xxxxxx_EN L 97
Reference
Table 51: MOVEP
MOVEP Move to Position Statement
Purpose MOVEP performs motion to a specified absolute position 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 an S-curve acceleration/deceleration is performed during the move.
Syntax MOVEP <absolute position>[,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.
This matters because if the register overflows, then the absolute position is flipped up-side down.
See Also MOVE, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVEP 3 ;moves to 3 user units absolute position
MOVEP -3 ;moves to -3 user units absolute position
MOVEP V5 ;moves to absolute position determined by value in v5
{Statements…}
Table 52: MOVEPR
MOVEPR Registered Distance Move Statement
Purpose MOVEPR performs absolute position moves, specified in User Units, in search of the registration
input. If during a move the registration input becomes activated (goes high), then the current position
is recorded, and the displacement value (the second argument in the MOVEPR 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 the 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 MOVEPR <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, MOVEDR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME
Example: This example moves the motor to the absolute position of 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…}
MOVEPR 3, 2
{Statements…}