Lenze PMSS1000 Simple Servo - Manual (Page 40)

Indexer-Programmer-Manual.pdf REV 1.3
Scanned Event Statements Summary
The following table contains a summary of instructions that relate to scanned events.
Refer to Part 5 * Language Reference for more detailed information.
Name Description
EVENT <name> ON/OFF enable / disable event
EVENT <name> INPUT <inputname> RISE/FALL Scanned event on input <#> RISE/fall
EVENT <name> TIME <value>
Periodic event with <value> repetition
rate.
EVENT <name> expression Scanned event on expression = true
2.13 Motion
Motion modes
There is three modes SSi can operate in:
Indexing (profiling) mode, Velocity mode and Gear
mode.
Indexing (profiling) mode is default SSi mode. In this mode SSi can execute all position commands and
profiled moves described below in this chapter.
In velocity mode SSi moves with designated acceleration deceleration and velocity set by internal user
accessible variables: ACCEL, DECEL and VEL respectively. Current position values are in tacked in this
mode and any calculation based on actual and target position are valid. To place SSi in this mode
execute VELOCITY ON statement. To exit velocity mode execute VELOCITY OFF statement.
In Gear mode SSi follows master encoder connected to SSi dedicated encoder inputs.
User can select resolution of the master encoder and gear ratio. Current position values are valid in this
mode and any calculation based on actual and target position are valid. To place SSi in this mode
execute Gear ON statement. To exit Gear mode execute GEAR OFF statement.
Moves Overview
Position commands that cause motion to be generated comes from profile generator or profiler for short.
The profile generator is used by MOVE, MOVED, MOVEP, MOVEPR, MOVEDR and MDV statements.
MOVE commands generate motion in positive or negative direction while or until conditions are met. For
example you can specify motion until specific input remains ON (or OFF). MOVEP generates move to
specific absolute position. MOVED generates incremental distance move i.e. move some distance from
current position. MOVEPR and MOVEDR are registration moves. MDV commands are used to generate
complicated profiles. Profiles generated by these commands are put into the motion stack which is 32
levels deep. By default when one of these statements (except MDV) is executed, program suspends until
motion generated by that command is done. Motion requests generated by MDV statement or if MOVE
statements with ",C" modifier doesn't suspend the program. They are merely put in the motion stack and
executed by profiler in the order they where put. It is the responsibility of the programmer to check if
space in the motion stack is available by checking appropriate flag in System status register.
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