JVL MAC050 User Manual page 228

4.9 Expansion Module MAC00-R1/R3/R4
4.9.10.3 Move operations
Icon:
Function:
4.9.10.4 Move Relative
Icon:
Dialogue:
Function:
224 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
The Move command is very flexible, with five different operating modes.
Each mode will be described in its own section
Performs a movement relative to the current position. The distance
moved is measured in encoder counts, and can either be entered direct-
ly, or taken from three memory registers in the RxP module. For further
information on using these memory registers, refer to the sections on the
"Save position" and "Set position" commands. Note that if you specify a
velocity, motor register no. 5 (V_SOLL) will be over written with this
velocity value. Also, if you specify an acceleration, motor register no. 6
(A_SOLL) will be overridden with the acceleration value you specified.
Register no. 49 (P1) is always over written by this command If the "Wait
for in position" option is checked, the program will wait until the motor has
finished the movement, before proceeding to the next program line. If this
option is not checked, the program will start the movement, then
immediately start executing the next command. The motor will finish the
movement on its own, unless it is given other instructions by the program.