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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.

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Lenze PM94P01C Manual de usuario Pagina 99