Moveabs - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands

3.2.178 MOVEABS

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Type Axis command
Syntax MOVEABS(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, ...]]]])
MA(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, ...]]]])
Description The MOVEABS command moves one or more axes at the demand speed,
acceleration and deceleration to a position specified as absolute position, i.e.,
in reference to the origin. In multi-axis moves the movement is interpolated
and the speed, acceleration and deceleration are taken from the base axis.
The specified distances are scaled using the unit conversion factor in the
UNITS axis parameter. If, for example, an axis has 4,000 encoder edges/mm,
then the number of units for that axis would be set to 4000, and
MOVEABS(12.5) would move to a position 12.5 mm from the ori-
gin.MOVEABS works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis. Argument distance_1 is
applied to the base axis, distance_2 is applied to the next axis, etc. By
changing the axis between individual MOVE commands, uninterpolated,
unsynchronised multi-axis motion can be achieved. Absolute moves can be
merged for profiled continuous path movements by turning on the MERGE
axis parameter.
Considering a 2-axis movement, the individual speeds are calculated using
the equations below. Given command MOVE(ax
(ay ,ay ) and the profiled speed v
1 2
and DECEL parameters from the base axis and the total multi-axes distance
2 2
L = SQR(x + x ), where x
1 2
The individual speed for axis at any time of the movement is calculated as v
= (x x v ) / L.
i p
Arguments The command can take up to 16 arguments.
• distance_i
The position to move every axis i to in user units starting with the base
axis.
Example MOVEABS(20,350)
An X-Y plotter has a pen carousel whose position is fixed relative to the plot-
ter origin. To change pen, an absolute move to the carousel position will find
the target irrespective of the plot position when the command is executed.
PROGRAMMING MANUAL
,ax ), the current position
1 2
as calculated from the SPEED, ACCEL
p
= ax - ay .
1 i i
Example A pallet consists of a 6 by 8 grid in which gas canisters are inserted 85mm
apart by a packaging machine. The canisters are picked up from a fixed point.
The first position in the pallet is defined as position (0,0) using the DEFPOS
command. The part of the program to position the canisters in the pallet is as
follows:
xloop:
FOR x = 0 TO 5
yloop:
FOR y = 0 TO 7
MOVEABS(-340,-516.5) ' Move to pick up point
GOSUB pick ' Go to pick up subroutine
PRINT "MOVE TO POSITION: ";x*6+y+1
MOVEABS(x*85,y*85)
GOSUB place ' Go to place down subroutine
NEXT y
NEXT x
See also AXIS, MOVE, MOVEABS, UNITS.
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