Lenze PM94P01C - Manual (Page 97)

PM94P01C 95
Reference
Table 48: MOVE
MOVE Move Statement
Purpose MOVE UNTIL performs motion until condition becomes TRUE. MOVE WHILE performs motion while
conditions stays TRUE. The statement suspends the programs execution until the motion is completed,
unless the statement is used with C modifier.
Syntax MOVE [BACK] UNTIL <condition> [,C]
MOVE [BACK] WHILE <condition> [,C]
BACK
Changes direction of the move.
C (optional) C[ontinue] - modifier allows the program to continue while motion is being performed.
If a second motion profile is executed while the first profile is still in motion, the second
profile will be loaded into the Motion Stack. The Motion Stack is 32 entries deep. The
programmer should check the “F_MQUEUE_FULL” system flag to make sure that there
is available space in the queue. If the queue becomes full, or overflows, then the drive
will generate a fault.
<condition> The condition to be tested. The condition may be a comparison, an input being TRUE or
FALSE (H or L) system flag or a variable is used as flag (if 0 - false, else - true ).
Remarks
See Also
MOVEP, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVE UNTIL V0<3
;Move until V0 is less than 3
MOVE BACK UNTIL V0>4 ;Move back until V0 is greater than 4
MOVE WHILE V0<3 ;Move While V0 is less than 3
MOVE BACK WHILE V0>4 ;Move While V0 is greater than 4
MOVE WHILE V0<3,C ;Move While V0 < 3, continue program execution
Table 49: MOVED
MOVED Move Distance Statement
Purpose MOVED performs incremental motion (distance) specified in User Units. The commanded distance
can range from -231 to 231. This statement will suspend the programs execution until the motion is
completed, unless the statement is used with the “C” modifier. If the “S” modifier is used then S-curve
accel is performed during the move.
Syntax MOVED <distance>[,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. The programmer should check the “F_MQUEUE_FULL”
system flag to make sure that there is available space in the queue. 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, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVED 3
;moves 3 user units forward
MOVED BACK 3 ;moves 3 user units backward
{Statements…}