Move - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
See also:

6-3-116 MOVE

Type:
Syntax:
Alternative:
Description:
Arguments:
See also:
Examples:
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable switch (WDOG)
will be turned OFF, the MOTION_ERROR parameter will have value 1 and
the ERROR_AXIS parameter will contain the number of the first axis to have
the error.
A motion error can be cleared executing a DATUM(0) command.
Note This parameter is read-only.
AXISSTATUS, DATUM, ERROR_AXIS, ERRORMASK, WDOG
Motion Control Command
MOVE( dist_1 [ , dist_2 [ , dist_3 ]])
MO( dist_1 [ , dist_2 [ , dist_3 ]])
The MOVE command moves with one or more axes at the demand speed and
acceleration and deceleration to a position specified as increment from the
current position. 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 MOVE(12.5)
would move 12.5 mm.
MOVE works on the default basis axis group (set with BASE) unless AXIS is
used to specify a temporary base axis. Argument dist_1 is applied to the base
axis, dist_2 is applied to the next axis, etc. By changing the axis between indi-
vidual MOVE commands, uninterpolated, unsynchronised multi-axis motion
can be achieved. Incremental 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(
v
as calculated from the SPEED, ACCEL and DECEL parameters from the
p
base axis and the total multi-axes distance
The individual speed
as
dist_i
The distance to move for every axis i in user units starting with the base axis.
AXIS, MOVEABS, UNITS
Example 1
A system is working with a unit conversion factor of 1 and has a 1000-line
encoder. It is, therefore, necessary to use the following command to move 10
turns on the motor. (A 1000 line encoder gives 4000 edges/turn).
MOVE(40000)
Example 2
In this example, axes 0, 1 and 2 are moved independently (without interpola-
tion). Each axis will move at its programmed speed and other axis parame-
ters.
MOVE(10) AXIS(0)
L
.
2
L = x + x
1 2
v i
for axis at any time of the movement is calculated
i
x v
i p
------------- .
v =
i
L
Section 6-3
x x
) and the profiled speed
1 2
2
.
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