Omron SYSMAC CJ Series, Operation Manual

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All BASIC commands Section 4-2
190
4-2-156 MOVE
/i
Type Axis command
Syntax MOVE(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, ...]]]])
MO(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, ...]]]])
Description The MOVE command moves with one or more axes at the demand
speed and acceleration and deceleration to a position specified as
increment from the current position. 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 (12.5) would move 12.5 mm.
MOVE works on the default basis axis group (set with BASE ) unless
AXIS is used to specify a temporary base axis. Argument distance_1 is
applied to the base axis, distance_2 is applied to the next axis, etc. By
changing the axis between individual MOVE commands, uninterpo-
lated, unsynchronised multi-axis motion can be achieved. Incremental
moves can be merged for profiled continuous path movements by turn-
ing on the
MERGE axis parameter.
Considering a 2-axis movement, the individual speeds are calculated
using the equations below. Given command
MOVE( x
1
, x
2
) and the pro-
filed speed v
p
as calculated from the SPEED , ACCEL and DECEL
parameters from the base axis and the total multi-axes distance L =
SQR( x
1
2
+ x
2
2
) .
The individual speed v
i
for axis i at any time of the movement is calcu-
lated as: v
i
= ( x
i
* v
p
) / L .
Arguments The command can take up to 32 arguments.
•
distance_i
The distance to move for every axis in user units starting with the
base axis.
Example A system works with a unit conversion factor of 1 and has a 1000 line
encoder. Note that a 1000 line encoder gives 4000 edges/turn.
MOVE(40000) ' move 10 turns on the motor.