Lenze PM94P01C - Manual (Page 99)

PM94P01C 97
Reference
Table 52: MOVEPR
MOVEPR Registered Distance Move Statement
Purpose MOVEPR performs absolute position moves specified in User Units. If during a move the registration
input becomes activated, i.e., goes high, then the end position of the move is altered to a new target
position. The new position is generated from the second argument in the MOVEPR statement,
(displacement). This statement suspends the execution of the program until the move is completed,
unless the statement is used with the C modifier.
Syntax MOVEPR <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, MOVEDR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME
Example:
{Statements…}
MOVEPR 3, 2
{Statements…}
This example moves the motor to the absolute position of 3 user units while checking 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.