User Manual

PD42-1240 TMCL

™

Firmware Manual • Firmware Version V1.45 | Document Revision V1.02 • 2018-DEC-03

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3.6.43 MVPA (Move to Position speciﬁed by Accumulator Register)

With this command the motor will be instructed to move to a speciﬁed relative or absolute position. The

contents of the accumulator register will be used as the target position. This command is non-blocking

which means that 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 as well as other ramp parameters are deﬁned by the appropriate

axis parameters. For a list of these parameters please refer to section 4.

Positioning can be interrupted using MST, ROL or ROR commands.

Three operation types are available:

• Moving to an absolute position speciﬁed by the accumulator register contents.

• Starting a relative movement by means of an oﬀset to the actual position.

• Moving the motor to a (previously stored) coordinate (refer to SCO for details).

Note

The distance between the actual position and the new position must not be

more than 2147483647 (2

−

1) microsteps. Otherwise the motor will run in

the opposite direction in order to take the shorter distance (caused by 32 bit

overﬂow).

Internal function:

The value stored in the accumulator register is copied to the axis parameter #0 (target

position).

Related commands: MVPXA, SAP, GAP, SCO, GCO, CCO, ACO, MST.

Mnemonic: MVPA <ABS|REL|COORD>, <axis>

Binary Representation

Instruction Type Motor/Bank Value

0 – ABS – absolute 0 0 (don’t care)

1 – REL – relative 0 0 (don’t care)

2 – COORD – coordinate 0. . . 255 0 (don’t care)

Reply in Direct Mode

Status Value

100 - OK don’t care

Example

Move motor 0 to position speciﬁed by accumulator.

Mnemonic: MVPA ABS, 0

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