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TMCM-3351 TMCL
™
Firmware Manual • Firmware Version V1.11 | Document Revision V1.06 • 2019-APR-26
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3.6.46 MVPXA (Move to Position specified by Accumulator Register and X 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, and the contents of the X
register specifies the motor number. 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
31
−
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 is copied to the axis parameter #0 (target position)
of the axis specified by the X register.
Related commands: MVPA, SAP, GAP, SCO, GCO, CCO, ACO, MST.
Mnemonic: MVPXA <ABS|REL|COORD>
Binary Representation
Instruction Type Motor/Bank Value
47
0 – ABS – absolute 0 (don’t care) 0 (don’t care)
1 – REL – relative 0 (don’t care) 0 (don’t care)
2 – COORD – coordinate 0 (don’t care) 0 (don’t care)
Reply in Direct Mode
Status Value
100 - OK don’t care
Example
Move motor specified by X register to position specified by accumulator.
Mnemonic: MVPXA ABS
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