Instruction Manual

Execution Commands • Motion Execution Commands 295
Publication 1398-PM601A-EN-P — October 2000
HOST MODE
Execution Commands
Execution commands are directives to the ULTRA Plus or IQ that require some internal action to be
taken. These commands are not queued and must be executed as received. An error acknowledge will
result if the command cannot be executed at the time it was received (for example, attempting to exe-
cute a program when one is already running). Unnecessary or duplicated commands such as disabling
the drive when it is already disabled will be passively accepted without error.
Motion Execution Commands
HOME (System Program #25)
ERET (System Program #26)
These commands cause the Auto, Home, or Emergency Return to Position programs to execute and are
alternate methods of executing programs from the system directory. To execute other programs from the
system directory (including the Error program #27), the SRUN command must be used and the program
number specified.
MOVD or MD distance [[, ][V =] velocity]
MOVP or MP position [[, ][V =] velocity]
Executes a motion profile of the specified distance (MOVD, MD) or to the specified position (MOVP,
MP). The velocity parameter is optional; if not specified, the default velocity will be used.
MOVV or MV velocity
Executes a move at the specified velocity using the jog acceleration. Motion will continue until stopped
by another MOVV, an X command, or Inputs. If a MOVV is executing, it will accelerate to the new
velocity.
RUN [program]