Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 258)

236 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
Syntax
(cont.) value
(cont.) 33 LPOS Interrupt 1 Latched Position
(encoder 1 or 2)
34 FVEL1 Filtered Feedback Velocity
Remarks
See Also DACn, OTMON
Example MONOUT = 3
V3 = MONOUT
MONOUT = G24
MOVD Move a Distance Motion
Purpose Move an incremental distance from the present position. The MOVD command gener-
ates a trapezoidal or triangular motion profile using the present acceleration and veloc-
ity and the specified incremental distance. Optionally, the velocity used for the move
may be specified in the instruction.
Syntax MOVD = distance[, V = velocity]
MD = distance[, V = velocity]
distance The incremental distance to be moved in user units. The dis-
tance may be positive or negative and can be a number or a
variable. Distances which result in a fractional number of
encoder counts should be programmed as fractions (for exam-
ple, 22/3 for 7.333333). Distances programmed in this manner
will maintain fractional count information so no long term drift
in position will occur. Distance can be a constant, a nonvolatile
variable Gn, a volatile variable Vn, or a system variable.
velocity The velocity to be used for the move in user units per Timebase.
If no velocity is specified, the Velocity variable is used (unless
overridden by a Velocity statement in the program). If the dis-
tance is too short to reach the velocity, a triangular motion pro-
file will be formed. A velocity specified in the instruction is
used for this move only; it does not affect any later moves.
Velocity can be a constant, a nonvolatile variable Gn, a volatile
variable Vn, or a system variable.
Remarks ACCEL can be used to set the acceleration and deceleration used by the MOVD
instruction. If the velocity specified cannot be reached using the present acceleration
and deceleration without overshooting the distance, a triangular velocity profile will
result, with a peak less than velocity.
The program will stop executing at this line until the commanded position has moved
the specified distance.
The MOVD statement can only be used in the body or subroutines of a main program.
It may not be used in Fkey, Xkey, or Scanned Event routines.
See Also MOVP, DV, DIF, MOVV, ACCEL, VEL
Example MOVD = 10
MOVD = 5, V = 100
MOVD = V10, V = V21
ACCEL = 150
MD = 5