Manual

3-46 Detailed Descriptions of ACL Commands
MT Move To Taught Point
This command moves the carriage in a straight line back to the most recent XY Taught
Point. All of the effects of this vector are as though an MA command had been executed.
The Taught Point Available status bit is cleared. The Commanded position is set to the
Calibrated Unit equivalent of the Taught Point, even if it is outside the travel limits, although
the motion itself is constrained to the travel limits.
The Taught Point is established by pressing the TEACH button (see Chapter 4) or by
executing a Dynamic Teach (see the MN command).
Note that it is possible to automatically "teach" the current carriage location by executing
MN 1,0,0; MR 0,0; MN; . You can later return to this point via MT. For more
information and an example see the MN command.
Example: suppose in your application the operator designates one "special" location on the
platen where several operations are to be performed with different tools. The operator
moves the carriage to this special place and pushes TEACH. Then he runs the move
sequence. The machine fetches several tools and, with each one, moves to the taught
position (via MT) and performs some operation.
MZ <numsteps> Move Z (relative)
The Z axis motor takes <numsteps> steps from its present position, at the acceleration, step
rate and half/full-step mode established by the CZ command. The <numsteps> parameter
specifies a relative move, not an absolute move. <numsteps> can be in the range -32768
through 32767 and is not restricted by the Z axis modulus. (See the CZ command.)
The motor is left at full power after the move.
The MZ command has a "wraparound" feature. If at any time the Z axis position counter is
decremented below zero, it is set to the Z axis modulus, minus one. If it is incremented
above the modulus minus one, it is set to zero. Thus a series of MZ commands can move the
Z axis an arbitrary distance in either direction. The only restriction is that a single move
cannot exceed -32768 or 32767 steps. Note that this wraparound feature does not apply to
the AZ command.
If the STOP button is pressed (or an external Emergency Stop switch closes) while the Z
motor is moving, the motor stops immediately. Its physical position reference remains
accurate unless the sudden deceleration causes the motor to slip. However, the No Z
Reference status bit is set, regardless. (See the OS command.)
If the machine is already in the Emergency Stopped state when the MZ command is
received, the command is ignored. See the STOP button in Chapter 4 and the FZ command
in this chapter.
To perform absolute Z axis moves with travel limits, use the AZ ("Absolute Z Axis Move")
command.
The Z axis has no calibration factor, origin offsetting or antibacklash vectors. A simple
origin offsetting can be done via the SZ command.