TMCM-1211 TMCL
™
Firmware Manual • Firmware Version V1.10 | Document Revision V1.00 • 2018-OCT-02
87 / 133
3.6.45
MVPA (Move to Position specified by Accumulator Register)
With this command the motor will be instructed to move to a specified relative or absolute position. The
contents of the accumulator register will be used as the target position. This command is non-blocking
which means that a reply will be sent immediately after command interpretation and initialization of the
motion controller. Further commands may follow without waiting for the motor reaching its end position.
The maximum velocity and acceleration as well as other ramp parameters are defined by the appropriate
axis parameters. For a list of these parameters please refer to section
Positioning can be interrupted using MST, ROL or ROR commands.
Three operation types are available:
• Moving to an absolute position specified by the accumulator register contents.
• Starting a relative movement by means of an offset to the actual position.
• Moving the motor to a (previously stored) coordinate (refer to SCO for details).
Note
The distance between the actual position and the new position must not be
more than 2147483647 (
2
31
−
1
) microsteps. Otherwise the motor will run in
the opposite direction in order to take the shorter distance (caused by 32 bit
overflow).
Internal function:
The value stored in the accumulator register is copied to the axis parameter #0 (target
position).
Related commands:
MVPXA, SAP, GAP, SCO, GCO, CCO, ACO, MST.
Mnemonic:
MVPA
<
ABS|REL|COORD
>
,
<
axis
>
Binary Representation
Instruction
Type
Motor/Bank
Value
46
0 – ABS – absolute
0
0 (don’t care)
1 – REL – relative
0
0 (don’t care)
2 – COORD – coordinate
0. . . 255
0 (don’t care)
Reply in Direct Mode
Status
Value
100 - OK
don’t care
Example
Move motor 0 to position specified by accumulator.
Mnemonic:
MVPA ABS, 0
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