|
Supported Axes: |
Position Control Axes |
|
Supported Control Modes: |
See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.
Command Parameters
|
# |
Parameter Description |
Range |
|
1 |
Requested Distance (position-units) |
any |
|
2 |
Requested Speed (position-units/s) |
≥0 |
|
3 |
Acceleration Rate (position-units/s2) |
>0 |
|
4 |
Deceleration Rate (position-units/s2) |
>0 |
|
5 |
Relative to:
|
a valid integer as described |
Description
This command moves the axis in closed loop control by the Requested Distance, using the Requested Speed, Acceleration Rate, and Deceleration Rate. The final Command Position is computed by adding the Requested Distance to the current value of the quantity specified in the Relative To parameter. The current value is the value at the time the RMC received the command.
Relative To Options:
Command Position (0)
The final Command Position is computed by adding the Requested Distance to the current Command Position.
Actual Position (1)
The final Command Position is computed by adding the Requested Distance to the current Actual Position.
Target Position (2)
The final Command Position is computed by adding the Requested Distance to the current Target Position.
This command is similar to the Move Absolute (20) command. However, this command does not have a Direction command parameter, and the Command Position is computed relatively instead of absolutely. See the Move Absolute (20) command for more details.
Status Bits
In Position Bit
When the Target Position has reached the Command Position and the Actual Position is within the In Position Tolerance window, the In Position Status bit will be set. This bit indicates that the move is complete and the axis is at position.
Target Generator Bits
The Target Generator bits in the Status Bits register indicate which portion of the move the axis is currently in. These bits are useful when programming complex motion sequences.
Target Generator Done bit
This bit indicates the move is complete, which occurs when the Target Position has reached the Command Position. Notice that this bit does not indicate whether the Actual Position has reached the Command Position.
Target Generator State A and B bits
|
B |
A |
Description |
|
0 |
0 |
The target generator is complete |
|
0 |
1 |
Acceleration |
|
1 |
0 |
Constant Velocity |
|
1 |
1 |
Deceleration |
See Also
Move Absolute (20) | List of Commands | Commands Overview
Copyright © 2024 Delta Computer Systems, Inc. dba Delta Motion