User`s manual

Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-21
7
Command Usage Examples
The following examples are not complete programs. For example, in many cases the
PROGRAM
and ENDPROG
statements are not shown. These statements (in correct context) would need to be
added to make the program compile successfully.
Programmed moves have three parameters:
1. The
distance
(data) to move or
position
to move to,
2. The
type of positioning reference
(command modifier) to use for the move, and
3. The
type of acceleration
(command modifier) to use while performing the move.
Note: Motion programs can contain statements that use constants as data associated with
commands or variables that are also referred to as parameters (P0-P255).
Absolute or Incremental Positioning
Absolute Positioning
In an absolute positioning move, the first parameter is the position to move to. The following is
an absolute positioning move example.
PMOVE 5000, ABS, LINEAR
In this example, the axis will move from its current position, whatever it may be, to the position
5000. Thus, the actual distance moved depends upon the axis’ current position when the move is
encountered. If the initial position is 0, the axis will move 5000 user units in the positive
direction. If the initial position is 8000, the axis will move 3000 user units in the negative
direction. If the initial position is 5000, the axis will not move.
Incremental Positioning
In an incremental move, the first parameter specifies the distance to move from the current
position. The DSM314 translates incremental move distances into absolute move positions. This
eliminates error accumulation. The following is an incremental positioning move example.
PMOVE 5000, INCR, LINEAR
In this example, the axis will move from its current position to a position 5000 user units greater.
With an incremental move, the first parameter specifies the actual number of user units the axis
moves.