User Manual
MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
170
MOVE
Syntax
move motor,speed,accel,deccel,position,buffer
• Motor - is a variable, constant or expression that species which motor to access.
• Speed - is a variable, constant or expression that sets the speed to run the motor at.
• Accel - is a variable, constant or expression that sets the acceleration to use when
the motor start its movement.
• Deccel - is a variable, constant or expression that sets the decceleration to use when
the motor stops its movement.
• Position - is a variable, constant or expression that sets the position for the motor
to move to.
• Buffer - is a variable, constant or expression that determines if the command will be buffered(0)
or execute immediately(1) overriding any currently running command on the motor.
Description
The MOVE command is used to control a motor using an encoder with a Position PID control
algorithm. The user must have tuned the Position PID settings for the motor before using the
MOVE command. With a properly tuned Position PID accurate absolute movments can be made
by the motor. Note that multiple Move commands can be chained together by buffering the
commands. As each command nishes the next will start executing.
;example assumes velocity/position PID settings are correct for the specied motor
main
move 0,1000,0,0,1000,0
pause 2000 ;move should take 1 second then stops for 1 second
move 0,1000,0,0,-1000,0
pause 2000 ;move should take 1 second then stops for 1 second
goto main