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User Manual, Revision 16.1
MA±nn
Command Reference, Move Commands
Move to absolute position ±nn.
Range : ± 4 000 000 (4.0E6) encoder counts.
The motor moves to the absolute position given in the command. It follows a trapezoidal velocity
profile (graph of velocity against time). The motor accelerates from rest at the system acceleration,
set by the SA command, until it reaches the system velocity, set by the SV command. At the end
of the move, the motor decelerates at the same rate to stop at the desired final position. The
position is entered in user units, which are equal to encoder counts.
Example : MA +2000
The motor moves to absolute position 2000.
MR±nn
Move ±nn units relative to current position.
Range : ± 8 000 000 (8.0E6) encoder counts.
The system performs a move similar to the absolute move above, but the move distance is defined
relative to the current position. The move distance is entered in user units.
Example : MR -3000
The motor moves 3000 units from its current position in the negative direction.
MMnn
Prepare move ±nn units on current channel (multi-axis move)
Range : ± 8 000 000 (8.0E6) encoder counts.
Default : 0
The system sets up a distance for a multi axis move. The parameter is the distance which will be
used by the MX command to execute an MX command. A mixture of relative and absolute moves
may be specified by the appropriate bits in the MW word. The move distance is entered in user
units.
For circular interpolation, the MM value depends on what bit of IW has been set. If bit 0 is set, then
MM is the destination position. If bit 1 is set, then MM is the number of degrees for the move; it
should be set the same for both channels.
MX
Execute multi-axis move
The system performs a multi axis move. The command operates globally, moving all axes defined
by the MW word. The distances moved are defined by the previously set up MM parameters. The
start of the moves is synchronized, but the finish is determined by the parameters on each channel.
A mixture of relative and absolute moves may be specified by the appropriate bits in the MW word.
The move distance is entered in user units.
Example :
CH2/MM-3000
CH3/MM500
MW100 0000 0110
MX
The motor on channel 2 moves 3000 units from its current position in the negative direction and
simultaneously, the motor on channel 3 moves to an absolute position 500.
Copyright © 2003 Pan Controls Limited
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