Lenze PM94P01C - Manual (Page 98)

PM94P01C 96
Reference
Table 50: MOVEDR
MOVEDR Registered Distance Move Statement
Purpose MOVEDR performs incremental motion, specified in User Units. If during the move the registration
input becomes activated (goes high) then the current position is recorded, and the displacement
value (the second argument in the MOVEDR statement) is added to this position to form a new target
position. The end of the move is then altered to this new target position. This statement suspends
execution of the program until the move is completed, unless the statement is used with the “C”
modifier.
Syntax MOVEDR <distance>,<displacement> [,S] [,C]
C[ontinue]
The “C” argument is an optional modifier which allows the program to continue
executing the User Program while a motion profile is being processed. If a new motion
profile is requested while the drive is processing a move 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, MOVED, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVEDR 3, 2
{Statements…}
This example moves the motor 3 user units and checks for the registration input.
If registration isn’t detected then the move is completed.
If registration is detected, the registration position is recorded and a displacement value
of 2 is added to the recorded registration position to calculate the new end position.
Table 51: MOVEP
MOVEP Move to Position Statement
Purpose MOVEP performs motion to a specified absolute position in User Units. The command range for an
Absolute move is from -2
31 to 2 31 User Units. This statement will suspend the program’s execution
until the motion is completed unless the statement is used with the “C” modifier. If the “S” modifier is
used then an S-curve accel is performed during the move.
Syntax MOVEP <absolute position>[,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, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVEP 3
;moves to 3 user units absolute position
{Statements…}