User`s manual

Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-23
7
Types of Programmed Move Commands
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.
Positioning Move (PMOVE)
A PMOVE must always come to a complete stop. The stop must long enough to allow the
In Zone
%I bit to turn ON before the next move can begin.
A PMOVE uses the most recently programmed velocity and acceleration. If a VELOC command
has not been encountered in the motion program, the
Jog Velocity
is used as default. If an
ACCEL command has not been encountered in the motion program, the
Jog Acceleration
is used
as default.
Continuous Move (CMOVE)
A CMOVE does not stop when completed unless it is followed by a DWELL or a WAIT, the next
programmed velocity is zero, or it is the last program command. It does not wait for
In Zone
%I
bit to turn ON before going to the next move. A normal CMOVE is a command that reaches its
programmed position at the same time that it reaches the velocity of the
following
Move
command.
A CMOVE uses the most recently programmed velocity and acceleration. If a VELOC command
has not been encountered in the motion program, the
Jog Velocity
is used as default. If an
ACCEL command has not been encountered in the motion program, the
Jog Acceleration
is used
as default.
A special form of the CMOVE command can be used to force the DSM314 to reach the
programmed CMOVE position
before
starting the velocity change associated with the
next
move
command (that is, execute the entire CMOVE command at a constant velocity).
Programming
an incremental CMOVE command with an operand of 0 (for example: CMOVE 0, INCR,
LINEAR) will delay the servo velocity change until the
next
move command in sequence.
The following sequence of commands illustrates this effect (assume ACCELs are chosen to allow
motions to complete normally):