User manual
PD-1141 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-27) 25
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3.6.4 MVP (move to position)
With this command the motor will be instructed to move to a specified relative or absolute position. It
will use the acceleration/deceleration ramp and the positioning speed programmed into the unit. This
command is non-blocking – that is, a reply will be sent immediately after command interpretation and
initialization of the motion controller. Further commands may follow without waiting for the motor
reaching its end position. The maximum velocity and acceleration are defined by axis parameters #4 and
#5.
The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be
interrupted using MST, ROL or ROR commands.
THREE OPERATION TYPES ARE AVAILABLE:
- Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647 (-2
31
… 2
31
-1).
- Starting a relative movement by means of an offset to the actual position. In this case, the new
resulting position value must not exceed the above mentioned limits, too.
- Moving the motor to a (previously stored) coordinate (refer to SCO for details).
Please note, that the distance between the actual position and the new one should not be more than
2.147.483.647 (2
31
-1) microsteps. Otherwise the motor will run in the opposite direction in order to take the
shorter distance.
Internal function: A new position value is transferred to the axis parameter #2 target position”.
Related commands: SAP, GAP, SCO, CCO, GCO, MST
Mnemonic: MVP <ABS|REL|COORD>, 0, <position|offset|coordinate number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
4
0 ABS – absolute
0*
<position>
1 REL – relative
0
<offset>
2 COORD – coordinate
0
<coordinate number>
(0… 20)
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Move motor to (absolute) position 90000
Mnemonic: MVP ABS, 0, 9000
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$04
$00
$00
$00
$01
$5f
$90