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Command, function and parameter description
Section 6-3
MOVE(10) AXIS(1)
MOVE(10) AXIS(2)
Example 3
An X-Y plotter can write text at any position within its working envelope. Indi-
vidual characters are defined as a sequence of moves relative to a start point
so that the same commands can be used no matter what the plot position.
The command subroutine for the letter “m” might be as follows:
m:
MOVE(0,12)
’move A -> B
MOVE(3,-6)
’move B -> C
MOVE(3,6)
’move C -> D
MOVE(0,-12)
’move D -> E
6-3-117 MOVEABS
Type:
Motion Control Command
Syntax:
MOVEABS(
pos_1
[ ,
pos_2
[ ,
pos_3
]]
)
Alternative:
MA(
pos_1
[ ,
pos_2
[ ,
pos_3
]]
)
Description:
The MOVEABS command moves one or more axes at the demand speed,
acceleration and deceleration to a position specified as absolute position, i.e.,
in reference to the origin. In multi-axis moves the movement is interpolated
and the speed, acceleration and deceleration are taken from the base axis.
The specified distances are scaled using the unit conversion factor in the
UNITS axis parameter. If, for example, an axis has 4,000 encoder edges/mm,
then the number of units for that axis would be set to 4000, and MOVE-
ABS(12.5) would move to a position 12.5 mm from the origin.
MOVEABS works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis. Argument
pos_1
is applied to
the base axis,
pos_2
is applied to the next axis, etc. By changing the axis
between individual MOVE commands, uninterpolated, unsynchronised multi-
axis motion can be achieved. Absolute moves can be merged for profiled con-
tinuous path movements by turning ON the MERGE axis parameter.
Considering a 2-axis movement, the individual speeds are calculated using
the equations below. Given command MOVE(
), the current position
(
) and the profiled speed
as calculated from the SPEED, ACCEL
and DECEL parameters from the base axis and the total multi-axes distance
where
.
The individual speed
for axis at any time of the movement is calculated
as
Arguments:
pos_i
The position to move every axis i to in user units starting with the base axis.
B
E
A
D
C
ax
1
ax
2
,
ay
1
ay
2
,
v
p
L
x
1
2
x
2
2
+
=
x
i
ax
i
ay
i
–
=
v
i
i
v
i
x
i
v
p
⋅
L
-------------.
=