Lenze PMSS1000 Simple Servo - Manual (Page 22)

Indexer-Programmer-Manual.pdf REV 1.3
Point To Point Moves
SSi supports two types of moves: absolute and incremental. The statement MOVEP (Move to Position) is
used to make absolute move. The statement MOVED (Move Distance) makes incremental (or relative )
move from current position.
MOVEP and MOVED statements generate what is called a trapezoidal point to point motion profile: the
motor accelerate using the current acceleration setting to a default top speed and then decelerate at the
right time to arrive at desired position. If the distance to be moved is fairly small, a triangular move profile
will be used: the motor will accelerate for the half the move and decelerate for the other half of the move,
but never reach the top speed.
Segment moves
MOVED and MOVEP commands are simple and useful, but if the required move profile is more complex
then a simple trapezoid, MDV (segment) moves can be used.
The profile shown below can be broken up to 8 MDV moves. The first segment would define the distance
between point 1 and point 2 and the velocity at point 2. So, if the distance between point 1 and 2 was 3
units and the velocity at point 2 was 56 RPM, the command would be: MDV 3 , 56. The second segment
would give the distance between point 2 and 3 and the velocity at point 3, and so on. Any profile can be
programmed using MDV moves.
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