Instruction Manual

Language Reference • Reference 237
Publication 1398-PM601A-EN-P — October 2000
WORDS
MOVECOMPLETE
Profile generated motion is
complete
System
Purpose OFF indicates profile generated motion is occurring.
Syntax variable = MOVECOMPLETE
variable Variable can be a nonvolatile flag Bn, a volatile flag Fn, or
another system flag.
Remarks This flag is useful to know when a move has finished commanding motion. The sys-
tem variables PGEN and PCMD are changing while this flag is off.
See Also INPOSN, PGEN
Example
F3 = MOVECOMPLETE
WAIT MOVECOMPLETE = ON
MOVP
Move to Position Motion
Purpose Move to an absolute position. A trapezoidal or triangular motion profile is formed as
described for the MOVD instruction. An optional velocity for the move may be speci-
fied in the instruction. An absolute position is defined in the absolute mode as a posi-
tion relative to the established zero position. A home sequence or a Define Home
(DH) must be completed before this instruction can be executed.
Syntax MOVP = position[, V = velocity]
MP = position[, V = velocity]
position The absolute position desired at the completion of the move.
Position may be positive or negative to indicate the direction
relative to the home position. Position can be a constant, a non-
volatile variable Gn, a volatile variable Vn, or a system vari-
able.
velocity The velocity to be used for this move in user units per Time-
base. If no velocity is specified, the system velocity variable is
used (unless overridden by a Velocity statement in the pro-
gram). If the distance is too short to reach the velocity, a trian-
gular motion profile will be formed. A velocity specified in the
instruction is used for this move only; it does not affect any
later moves. Velocity can be a constant, a nonvolatile variable
Gn, a volatile variable Vn, or a system variable.
Remarks ACCEL can be used to change the acceleration and deceleration used for this move. If
the velocity specified cannot be reached using the present acceleration and decelera-
tion without overshooting the position, a triangular velocity profile will result, with a
peak less than velocity.
The program will stop executing at this line until the commanded position has reached
the specified position.
If a home sequence has not been completed and this instruction is executed, error 17,
Home Not Defined, will occur.
The MOVP statement can only be used in a subroutine or the main body of the pro-
gram. It may not be used in Fkey, Xkey, or Scanned Event routines.