Lenze PMSS1000 Simple Servo - Manual (Page 64)

Indexer-Programmer-Manual.pdf REV 1.3
MOVEP Move to Position Statement
Purpose
MOVEP performs motion to specified absolute position in User Units. Valid range for
Absolute position from -231 to 231 Statement suspends the program execution until
motion is completed unless statement is used with C modifier. If "S" modifier is used
S-curve accel is performed during the move. After enabling indexer (by execution of
statement or Host Interface command) absolute position is reset to zero. Current
Absolute position can be set at any time by setting System Variable APOS to any
valid numeric value. APOS=300 makes current position to be 300 User Units.
Syntax
MOVEP [,S] [,C]
C[ontinue] optional modifier allows program to continue while motion is
performed. If the other motion is not completed yet requested
motion is placed in motion stack. Motion stack is 16 entries deep.
If there is no more stack space fault will result. Programmer
should check F_MQUEUE_FULL system flag to see if there is
available space.
S[-curve] optional modifier specifies S-curve acceleration.
See Also MOVE, MOVED, MOVEPR, MOVEDR, MDV, MOTION SUSPEND, MOTION
RESUME
Example:
{Statements…}
MOVEP 3 ;moves to 3 user units absolute position
{Statements…}
MOVEDR Registered Distance Move Statement
Purpose
MOVEDR performs incremental motion (distance) specified in User Units. If during
motion registration input has been activated then current position is recorded.
Displacement (second statement argument) is added to recorded position to form new
target position. The end of the move is then altered to new target position. Statement
suspends the program execution until motion is completed unless statement is used
with C modifier.
Syntax
MOVEDR , [,C]
C[ontinue] optional modifier allows program to continue while motion is
performed. If the other motion is not completed yet requested
motion is placed in motion stack. Motion stack is 16 entries deep.
If there is no more stack space a fault will result. Programmer
should check F_MQUEUE_FULL system flag to see if there is
available space.
See Also
MOVE, MOVEP, MOVEPR, MOVED, MDV, MOTION SUSPEND, MOTION RESUME
64