User`s manual

7-10 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
7
CMOVE
The CMOVE command programs a continuous move using the specified position and acceleration
mode.
Syntax:
CMOVE {<axis>} <position>, <positioning mode>, <acceleration mode>
Parameter Description
<axis> The axis can only be specified in a multi-axis program or subroutine.
The axis may be specified using the AXISx keywords or constants.
<position> The destination position. May be a constant or a parameter data
register.
<positioning mode> Specifies incremental (INCR) or absolute (ABS) positioning.
<acceleration mode> Specifies linear (LINEAR) or s-curve (S-CURVE) acceleration for the
move.
Aliases:
None
Errors:
1. Axis specified in single-axis program.
2. No axis specified in multi-axis program.
3. Position must be in the range of –536,870,912 – 536,870,911, or parameter data register 0 -
255.
4. Positioning mode must be either INCR or ABS.
5. Acceleration mode must be either LINEAR or S-CURVE.
6. Specified axis does not support programmed motion.
DWELL
DWELL causes motion to cease for a specified time period before processing the next command.
Specifying a dwell of zero (either as a constant or the value in a parameter data register) causes no
dwell to occur
(this is a change from APM and DSM302 functionality)
.
A single DWELL command only applies to one axis. Therefore, in a multi-axis program, you
must designate an axis number for each DWELL command. For example: DWELL AXIS1 2000.
If you wish to pause both axes in a multi-axis program, you must use a DWELL command for
each axis.
Syntax:
DWELL {<axis>} <delay>
Parameter Description
<axis> The axis can only be specified in a multi-axis program or subroutine.
The axis may be specified using the AXISx keywords or constants.
<delay> Delay in milliseconds specified as a constant or a parameter data
register. Range is 0-60,000 ms. A value of 0 is interpreted as a null
command.