Lenze PM94P01C - Manual (Page 30)

PM94P01C 28
Introduction
Here is the user program for the segment move example. The last segment move must have a “0” for the end velocity,
(MDV 5 , 0). Otherwise, fault F_24 (Motion Queue Underflow), will occur.
;Segment moves
LOOP:
WAIT UNTIL IN_A4==0 ;Wait until input A4 is off before starting the move
MDV 3 , 56
;Move 3 units accelerating to 56 User Units per sec
MDV 3 , 12 ;Move 3 units decelerating to 12 User Units per sec
MDV 4 , 16 ;Move 4 units accelerating to 16 User Units per sec
MDV 2 , 57 ;Move 2 units accelerating to 57 User Units per sec
MDV 2.5 , 57 ;Move 2.5 units maintaining 57 User Units per sec
MDV 3 , 11 ;Move 3 units decelerating to 11 User Units per sec
MDV 5 , 20 ;Move 5 units accelerating to 20 User Units per sec
MDV 5 , 0 ;Move 5 units decelerating to 0 User Units per sec
WAIT UNTIL IN_A4==1 ;Wait until input A4 is on before looping
GOTO LOOP
END
NOTE
When an MDV move is executed, the segment moves are stored to a Motion Queue. If the program
loops on itself, then the queue will become full and an F_23 Fault Motion Queue Overflow will
occur.
Since the MDV moves utilize a Motion Queue, the
[Step] or [Step Over] debugging features can
not be used.
1.10.4 Registration
Both absolute and incremental moves can be used for registration moves. The statements associated with these moves
are MOVEPR and MOVEDR. These statements have two arguments. The first argument specifies the commanded
move distance or position. The second argument specifies the move made after the registration input is seen. If the
registration move is an absolute move, for MovePR, the first argument is absolute (referenced to the 0 position), the
second argument is relative to the registration position. For MoveDR, both arguments are relative. The first is relative to
the shaft position when motion is started and the second is relative to the registration position.
Position Registration
Input is made
Commanded
Move
Registration
Move
Registration Move
Figure 12: Registration Move