TMCM-351 TMCL Firmware V4.45 Manual (Rev. 1.06 / 2014-MAY-16)
25
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4.6.4
MVP (move to position)
With this command the motor will be instructed to move to a specified relative or absolute position or a
pre-programmed coordinate. It will use the acceleration/deceleration ramp and the positioning speed
programmed into the unit. This command is non-blocking – that is, 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 are defined by
axis parameters 4 and 5.
The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be
interrupted using MST, ROL or ROR commands.
T
HREE OPERATION TYPES ARE AVAILABLE
:
-
Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647 (-2
31
… 2
31
-1).
-
Starting a relative movement by means of an offset to the actual position. In this case, the new
resulting position value must not exceed the above mentioned limits, too.
-
Moving the motor to a (previously stored) coordinate (refer to SCO for details).
Please note, that the distance between the actual position and the new one should not be more than
2.147.483.647
(
2
31
-1)
microsteps. Otherwise the motor will run in the opposite direction in order to take the
shorter distance.
Internal function:
A new position value is transferred to the axis parameter #2 (target position).
Related commands:
SAP, GAP, SCO, CCO, GCO, MST, ACO
Mnemonic:
MVP <ABS|REL|COORD>, <motor>, <position|offset|coordinate number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
4
0 ABS – absolute
<motor>
0… 2
<position>
1 REL – relative
<offset>
2 COORD – coordinate
<coordinate number>
0… 20
Reply in direct mode:
STATUS
VALUE
100 – OK
don’t care
Example:
Move motor 0 to (absolute) position 90000
Mnemonic:
MVP ABS, 0, 9000
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$04
$00
$00
$00
$01
$5f
$90
Example:
Move motor 0 from current position 1000 steps backward (move relative –1000)
Mnemonic:
MVP REL, 0, -1000
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$04
$01
$00
$ff
$ff
$fc
$18
