Move_D - YASKAWA XTRAWARE - V3.0 Manual

Command Reference
See Also MOVE_D, MOVE_H, MOVE_R, GO, GO_D,
ACCELERATION, JERK_TIME, SPEED
Variables: Max_Profile_Velocity, Profile_Velocity,
Max_Profile_Acceleration, Profile_Acceleration.
Parameters: Pn2A2, Pn2A3, Pn2A4, Pn2A5

MOVE_D

Table explanation
Group Motion
Syntax MOVE_D <distance> <time>
Op. Code 129
Modes Program, Sequential
Motion Position (1)
Mode
Description Moves the motor a specified <distance> (incremental coordinates)
in the specified <time>. This command is identical to the MOVE
command in motion execution, but it delays the execution of the
next program command until the command (theoretical motion)
generated by the MOVE_D command is completed.
The controller calculates the speed of the motor based on the
profile acceleration (see section 12.2.2, Profile Acceleration) and
profile jerk (see section 12.2.3, Profile Jerk Smoothing Time). The
maximum permitted speed is the maximum motor speed (variable
Max_profile_velocity).
Syntax distance
Arguments
time
140
Distance to the next point.
[user position units]
Serial 4 V
The time allowed for the motion.
[ms]
When setting <time> to -1, a motion
profile (See section 12.2.) will be
calculated with a maximum speed equal
to the profile velocity (See section
12.2.1.).
Serial 4 V
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