Movemodify; Mpos; Mspeed; Mtype - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description

6-3-120 MOVEMODIFY

Type:
Syntax:
Alternative:
Description:
Arguments:
See also:

6-3-121 MPOS

Type:
Description:
See also:
Example:

6-3-122 MSPEED

Type:
Description:
See also:

6-3-123 MTYPE

Type:
Description:
MOVELINK(0.4,0.8,0.8,0,1)
MOVELINK(0.6,1.0,0,0.8,1)
Motion Control Command
MOVEMODIFY( position )
MM( position )
The MOVEMODIFY command changes the absolute end position of the cur-
rent single-axis linear move (MOVE or MOVEABS). If there is no current
move or the current move is not a linear move, then MOVEMODIFY is treated
as a MOVEABS command. The ENDMOVE parameter will contain the posi-
tion of the end of the current move in user units.
MOVEMODIFY works on the default basis axis (set with BASE) unless AXIS
is used to specify a temporary base axis.
position
The absolute position to be set as the new end of move.
AXIS, MOVE, MOVEABS, UNITS
Axis Parameter
The MPOS parameter is the measured position of the axis in user units as
derived from the encoder. This parameter can be set using the DEFPOS com-
mand. The OFFPOS axis parameter can also be used to shift the origin point.
MPOS is reset to zero at start-up.
The range of the measured position is controlled with the REP_DIST and
REP_OPTION axis parameters.
Note This parameter is read-only.
AXIS, DEFPOS,
REP_OPTION, UNITS
WAIT UNTIL MPOS >= 1250
SPEED = 2.5
Axis Parameter
The MSPEED parameter contains the measured speed in units/s. It is calcu-
lated by taking the change in the measured position in user units in the last
servo period and divide it by the servo period (in seconds). The servo period
is set with the SERVO_PERIOD parameter.
MSPEED represents a snapshot of the speed and significant fluctuations,
which can occur, particularly at low speeds. It can be worthwhile to average
several readings if a stable value is required at low speeds.
Note This parameter is read-only.
AXIS, SERVO_PERIOD, VP_SPEED, UNITS
Axis Parameter
The MTYPE parameter contains the type of move currently being executed.
The possible values are given below.
Move No. Move Type
DPOS, ENCODER,
Section 6-3
FE, OFFPOS, REP_DIST,
163