Yaskawa FSP Amplifier FlexWorks - Manual (Page 162)

Command Reference
162
MOVE_R
G ROUP Motion
S YNTAX MOVE_R <distance>
O P . C ODE 119
M ODES Program, Sequential
M OTION
M ODE
Pulse train (-3)
D ESCRIPTION Starts synchronization to master encoder (external pulse
source) in terms of speed and position. As soon as the
command is issued, the FSP Amplifier starts to count the
incoming pulses and accelerates at the profile acceleration
(See section 12.2.2.) rate. It reaches maximum speed (as
defined by the profile velocity (See section 12.2.1.) in
order to meet the master encoder and keep the smallest
possible distance from it.
Specifying <distance> other than zero can create motion
relative to the master encoder. Relative motion can be
performed while moving as well (see diagram below).