Specifications

BASIC commands
PROGRAMMING MANUAL 133
Revision 5.0
3.2.183 MPOS
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3.2.184 MSPEED
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3.2.185 MTYPE
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Type Axis parameter (read-only)
Syntax MPOS
Description The MPOS parameter is the measured position of the axis in user units as
derived from the encoder. This parameter can be set using the DEFPOS
command. The OFFPOS axis parameter can also be used to shift the origin
point. MPOS is reset to 0 at start-up or after the controller has been reset.
The range of the measured position is controlled with the REP_DIST and
REP_OPTION axis parameters.
Arguments N/A
Example WAIT UNTIL MPOS >= 1250
SPEED = 2.5
See also UNITS, AXIS, DEFPOS, ENCODER, FE, OFFPOS, REP_DIST,
REP_OPTION, UNITS.
Type Axis parameter (read-only)
Syntax MSPEED
Description The MSPEED parameter contains the measured speed in units/s. It is calcu-
lated by taking the change in the measured position in user units in the last
servo period and divide it by the servo period (in seconds). The servo period is
set with the SERVO_PERIOD parameter.
MSPEED represents a snapshot of the speed and significant fluctuations,
which can occur, particularly at low speeds. It can be worthwhile to average
several readings if a stable value is required at low speeds.
Arguments N/A
Example No example.
See also AXIS, SERVO_PERIOD, VP_SPEED, UNITS.
Type Axis parameter (read-only)
Syntax MTYPE
Description The MTYPE parameter contains the type of move currently being executed.
The possible values are given in the table below.
Move number Move type
0 IDLE (no move)
1 MOVE
2 MOVEABS
3 MHELICAL
4 MOVECIRC
5 MOVEMODIFY
10 FORWARD
11 REVERSE
12 DATUM
13 CAM
14 JOG_FORWARD refer to FWD_JOG
15 JOG_REVERSE refer to REV_JOG
20 CAMBOX
21 CONNECT
22 MOVELINK