User`s manual

7-8 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
7
Motion Program Commands
This section describes the motion commands. Most motion commands have two forms, multi-axis
and single-axis. The multi-axis form is used in multi-axis programs and subroutines and requires
the axis to be specified as a parameter in certain commands (for example: VELOC AXIS1 5000).
In single-axis programs the axis number is specified in the program header (for example:
PROGRAM 2 AXIS1) and must not be specified within the program.
Some of the command keywords have aliases. The alias command keywords are functionally
equivalent to the actual keywords. Alias usage is optional and largely a matter of personal
preference.
Items that appear within angle brackets (“<”, “>”) represent classes of items, and are described in
more detail. Items that appear in square brackets (“[”, “]”) are optional. Items that appear in
curly brackets (“{”, “}”) are required for multi-axis programs and subroutines but are illegal when
used in single-axis programs or subroutines.
The general format of motion language commands is KEYWORD {axis} <parameter [,
parameter]>. If the axis is specified, it immediately follows the command keyword. Command
parameter(s) follow the axis, if specified. If there are multiple parameters, they are separated by
commas.
NOTE: The DSM314 does not support the NULL command or Program Zero.
ACCEL
The ACCEL statement sets the axis acceleration for subsequent moves and remains in effect in a
given program unless changed. If an ACCEL statement is not used in a program, the moves will
accelerate at the current
Jog Acceleration
value. Moves programmed before the first ACCEL
statement will accelerate at the current
Jog Acceleration
. Moves programmed after an ACCEL
statement will use the value in the ACCEL statement.
Note: ACCEL commands for a given axis in a program or subroutine must be separated by a
PMOVE statement, CMOVE statement, or an unconditional jump.
Syntax:
ACCEL {<axis>} <acceleration>
Parameter Description
<axis> The axis number can only be specified in a multi-axis program or
subroutine. The axis may be specified using the keywords or constants.
<acceleration> The acceleration is specified by using either an unsigned constant in the
range of 1 - 1,073,741,823 or by using a parameter data register.
Aliases:
ACC, ACCELERATION
Errors:
1. ACCEL commands must be separated by at least one move command.