User Manual

TMCC160 TMCL Firmware Version 2.11 • 2018-FEB-08 | Document Revision 1.01 • 2018-FEB-08
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© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and rights
to technical change reserved. Download newest version at: www.trinamic.com .
Read entire documentation; especially the 6 “Supplemental Directives” (page 51).
1.2.4 MVP (Move to Position)
The motor is instructed to move to a specified relative or absolute position.
The motor uses the predefined acceleration/deceleration ramp and the positioning
speed. This setting can be changed by the user. The command is non-blocking (like
all commands). A reply is sent immediately after command interpretation. Further
commands can follow even if the motor has not yet reached its target position. The
maximum velocity and acceleration are defined by axis parameters #4 and #11.
Two operation types are available:
 ABS: Moves the motor to an absolute position in the range from
- 2147483648… [phone].
 REL: Moves the motor relative to the actual position.
NOTE:
 Table 17 (page 12) provides an ABS operation example, Table 18 (page 12) and
REL example.
A new position value is transferred to the axis parameter #0 target position.
Related commands: SAP, GAP, and MST
Mnemonic: MVP <ABS|REL>, 0, <position | offset value>
MVP (ABS / REL) Request in Direct Mode
COMMAND
TYPE
MOT/BAN
K
VALUE
4
0 ABS –
absolute
0
<position>
-2147483648… [phone]
1 REL – relative
0
<offset>
-2147483648… [phone]
Table 15: MVP ABS/ REL Request in Direct Mode
MVP Reply in Direct Mode
STATUS
COMMAND
VALUE
100 – OK
4
don’t care
Table 16: MVP ABS / REL Reply in Direct Mode
 Please turn page for ABS and REL examples.
Two available
Operation Types
Process
Description