Lenze PMSS1000 Simple Servo - Manual (Page 42)

Indexer-Programmer-Manual.pdf REV 1.3
Incremental (MOVED) motion
Incremental motion is defined as a move of some distance from the current position. Move four
revolutions from the current position is an example of an incremental move.
MOVED is the statement to create incremental moves. The simplified syntax is:
MOVED <+/-distance>
+/- sign will tell the direction motor shaft is moving.
Absolute (MOVEP) move
Absolute motion is defined as a motion to some fixed position from the current position. The fixed position
is defined as a position relative to a fixed zero point. The zero point for a system is established during
homing cycle, typically performed immediately after power-up.
During a homing cycle, the motor will make incremental moves while checking for a physical input, index
mark, or both.
Registration (MOVEDR MOVEPR) moves
MOVEPR and MOVEDR used to move to position or distance respectively just like MOVEP and MOVED.
Difference is that when executed they looking for the registration signal on registration input. If during the
motion registration signal is detected then commands add displacement specified in command parameter
field to position where registration signal is met and modify current move to end at this new position.
Example:
MOVEDR 5, 1 ; Statement move distance of 5 user units or registration position + ;1 user units if
registration input is activated during motion.
There is two exceptions from this behavior.
Exception one:
Move will not be modified to "Registration position +displacement" if registration detected while system
already in decelerating phase to complete motion.
Exception two:
The distance "Registration position+displacement" must be at least more then distance to stop with
selected deceleration rate from velocity at the time when registration occurs.
If this distant is smaller, system will overshoot final desirable position.
Segment moves
In addition to the simple moves that can be generated by MOVED and MOVEP statements, complex
profiles can be generated using segment moves. A segment move represents one portion of a complete
move. A complete move is constructed out of two or more segments, starting and ending at zero velocity.
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