Manual

3-36 Detailed Descriptions of ACL Commands
MA <x>, <y> Move Absolute
The carriage moves in a straight line (a "vector") to the absolute Calibrated Unit coordinate
given by <x> and <y>. This is the most common motion command used with the Automove
System.
The range of <x> and <y> is -32768.0000 through 32767.9999. The specified values are
rotated by the pattern rotation angle. The rotated coordinates are multiplied by the
calibration factors, rounded to the nearest integer, and added to the Origin position to get a
pair of microstep coordinates. These coordinates are adjusted for linearity correction, and
the carriage then moves to this absolute location. See the BP, CF, CR, and SO commands.
An antibacklash vector is performed if it is currently enabled; see the AB command. The
current values of acceleration and step rate are used; see AC and SR. The XY motors are
left at full power following the move; see the PM command.
During the conversion from Calibrated Units to microsteps the intermediate computation
results must be within the range -32768 through 32767 and the final results (before Linearity
Correction) must be within the travel limits. If either restriction is not met an error is logged,
the out-of-range coordinate is set to the value of the nearest travel limit, and a vector to the
resulting point is performed. (This is NOT a straight-line clipping algorithm.)
If the step rate has been set higher than about 7400 microsteps per second the System
automatically skips some intermediate microstep positions during the vector. This skipping
is done in a regular, smooth pattern and does not affect the overall motion or the accuracy
with which the vector reaches its endpoint. (Contrast this with arcs; see AA.) Available
motor torque may be reduced. The step rate is automatically constrained for certain values
of resolution; see the RE and SR commands.
The MA command is ignored while the machine is in the Emergency Stopped state. If the
STOP button is pressed (or an external Emergency Stop switch closes) during the vector, the
motors stop immediately and the Home position reference becomes inaccurate. See the
STOP button in Chapter 4 and the FH command in this chapter.
The effects of the MA command can be altered by the Vector Mode; see the VM command.
To perform more than one vector or arc without stopping, see the BC command.
If short-vector system throughput is important, see Appendix E Speed Considerations.
MD [<count1>, <new1> [, <which1> [, <count2>, <new2> [, <which2>]]]]
Mid-move Digital Outputs Changes
The MD command establishes one or two points at which the eight Digital Outputs are to
change state during each subsequent AA, AR, MA, MR, MT, or Continuous Path move until
another MD command is executed. This is the equivalent of executing one or two CD
commands in the middle of a move. See also the MM and PD commands.