User Manual
Chapter 7
GFK-1742F
Jan 2020
Programmed Motion
190
7.7.4
Command Usage Examples
The following examples are not complete programs. For example, in many cases the
PROGRAM and ENDPROG statements are not shown. These statements (in correct context)
would need to be added to make the program compile successfully. Programmed moves
have three parameters:
1.
The distance (data) to move or position to move to,
2.
The type of positioning reference (command modifier) to use for the move, and
3.
The type of acceleration (command modifier) to use while performing the move.
Note:
Motion programs can contain statements that use constants as data associated with commands
or variables that are also referred to as parameters (P0-P255).
Absolute or Incremental Positioning
Absolute Positioning
In an absolute positioning move, the first parameter is the position to move to. The
following is an absolute positioning move example.
PMOVE 5000, ABS, LINEAR
In this example, the axis will move from its current position, whatever it may be, to the
position 5000. Thus, the actual distance moved depends upon the axis’ current position
when the move is encountered. If the initial position is 0, the axis will move 5000 user units
in the positive direction. If the initial position is 8000, the axis will move 3000 user units in
the negative direction. If the initial position is 5000, the axis will not move.
Incremental Positioning
In an incremental move, the first parameter specifies the distance to move from the current
position. The DSM314 translates incremental move distances into absolute move positions.
This eliminates error accumulation. The following is an incremental positioning move
example.
PMOVE 5000, INCR, LINEAR
In this example, the axis will move from its current position to a position 5000 user units
greater. With an incremental move, the first parameter specifies the actual number of user
units the axis moves.