Lenze PMSS1000 Simple Servo Manual de usuario descargar pdf (Pagina 66)

Indexer-Programmer-Manual.pdf REV 1.3

MDV Segment Move Statement

Purpose MDV defines incremental motion segment by specifying distance and final velocity

(for this segment) in User Units. Acceleration (or deceleration) is calculated

automatically based on this two parameters. This technique allows to create

complicated moves consist of many segments. To execute any move you must

specify at least two segments because at the end of the move final velocity has to be

0. That's why any complicated move consisting of many MDV statements must end

with statement has final velocity argument set to 0. MDV statement doesn't suspend

main program execution. They placed in Motion Queue immediately. If SSi fetches

last segment from Motion Queue with its final velocity non 0 it will generate "Motion

Queue Empty" fault #24. If "S" modifier is used in statement than velocity

acceleration/deceleration will be S-curved as opposed to be linear.

Syntax MDV <[-]segment distance>,<segment final velocity> [,S]

S[-curve] optional modifier specifies S-curve acceleration.

See Also MOVE, MOVEP, MOVEDR, MOVED, MOVEPR ,MOTION SUSPEND, MOTION

RESUME

Example:

{Statements…}

MDV 5, 10 ;accelerate to velocity of 10

MDV 10,10 ;move 10 user units with velocity of 10

MDV 10,5 ;decelerate to velocity of 5

MDV 5,0 ;decelerate to velocity 0. (last MDV has to

;have 0 final velocity)

{Statements…}

MOTION SUSPEND Suspend Statement

Purpose This statement is used to temporarily suspend motion without flashing Motion Queue

content. Motion will be suspended after completion of current move. If Motion

Suspend is executed while executing series of MDV statements motion will be

suspended only after MDV segment with zero final velocity. If command is executed

while Motion Queue empty any motion related statement will be placed in Motion

Queue but not executed until Motion Resume statement allows motion. Any motion

statements without "C" modifier (except MDV statements which never suspend

program) will dead-lock user program. Consider following program:

;Program dead-locks after MOVE statement executed

…{statements}

MOTION SUSPEND ;everything placed in Queue

;after this statement

MOVE 20 ;placed in Queue and suspend

;program until completed

…{statements}

MOTION RESUME ;never gets here because

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Lenze PMSS1000 Simple Servo Manual de usuario Pagina 66