Lenze PM94P01C - Manual (Page 52)

PM94P01C 50
Programming
2.11.5 Registration (MOVEDR MOVEPR) Moves
MOVEPR and MOVEDR are used to move to position or distance respectively just like MOVEP and MOVED. The
difference is that while the statements are being executed they are looking for a registration signal or registration input
(C3). If during the motion a registration signal is detected, then a new end position is generated. With both the MoveDR
and MovePR statements the drive will increment the distance called out in the registration argument. This increment will
be referenced from the position where the registration input has seen.
Example:
MOVEDR 5, 1 ;Statement move a distance of 5 user units or registration position +
;1 user units if registration input is activated during motion.
There are two exceptions to this behavior:
Exception one:
The move will not be modified to “Registration position +displacement” if the registration was detected while sys-
tem was decelerating to complete the motion.
Exception two:
Once the registration input is seen, there must be enough room for the motor to decelerate to a stop using the
profiled Decel Value. If the new registration move is smaller than the distance necessary to come to a stop, then
the motor will overshoot the new registration position.
2.11.6 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.
2.11.7 MDV Segments
Segments are created using a sequence of MDV statements. The simplified syntax for the MDV (Move Distance with
Velocity) statement is:
MDV < distance>,<velocity>
The <distance> is the length of the segment move. The <velocity> is the final velocity for the segment move. The
starting velocity is either zero or the final velocity of the previous segment. The final segment in a complete move must
have a velocity of zero. If the final segment has a final velocity other than zero, a motion stack underflow fault will occur
(F_24).
The profile shown in Figure 20 can be broken up into 8 MDV moves. The first segment defines 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 Units/S, the command would be: MDV 3 , 56. The second segment gives the distance between point 2
and 3 and the velocity at point 3, and so on.