PI E-871.1A1N, User Manual, Page: 150 / 226

MVR Set Target Relative To Current Position
Used in: Motion in closed-loop operation (32)
Description: Moves the specified axis relative to the last commanded target posi-
tion.
Long description The new target position is calculated from the sum of the last com-
manded target position and <Distance>.
Servo mode must be switched on for the specified axis (axes)
(closed-loop operation). HID control may not be activated for the
corresponding axis.
The target position must be inside the soft limits.
The motion can be stopped by
#24 (p. 119) , STP (p. 162) , and
HLT (p. 141) .
Format:
MVR{␣<AxisID>␣<Distance>}
Arguments: <AxisID> Axis ID
<Distance> Distance that the axis has to move, specification
in physical units
Troubleshooting: Illegal axis identifier
Servo mode not active (
SVO? (p. 163) responds with the value "0")
Executing motion commands deactivated by parameter 0x130
Target position outside of the soft limits
HID control is enabled
OMA Absolute Open-Loop Motion
Used in: Motion in open-loop operation (33)
Description: Moves the specified axis to the specified absolute position.
Long description Motion is performed in open-loop nanostepping mode. The velocity
in open-loop step mode is controlled via the step frequency (param-
eter
0x1F000400 ).
Servo mode must be switched off for the specified axis (axes) (open-
loop operation).
Position control is not done with OMA (i.e., the target position is not
held in the servo loop). Overshooting the axis is possible depending
on the type of drive connected to the axis(axes). The controller com-
pensates this by moving the axis back the corresponding number of
steps.
Format: OMA{␣<AxisID>␣<Position>}
Arguments: <AxisID> Axis ID
<Position> Absolute target position in physical units (format:
FLOAT)
Troubleshooting: Illegal axis identifier
Servo mode active (
SVO? (p. 163) responds with the value "1")
HID control is enabled
9 COMMAND REFERENCE PZ285EN
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