AMCI SV160E2, Руководство пользователя, Страница: 30 / 120

M
OTION
C
ONTROL
SV160E2 User Manual
ADVANCED MICRO CONTROLS INC.
30
Basic Move Types (continued)
Absolute Move
Absolute Moves move from the current Profile Posi-
tion (A) to a given position (B). (The SV160E2 calcu-
lates the direction and number of steps needed to move
to the given position and moves that number of steps.)
A trapezoidal profile is shown to the right, but Abso-
lute Moves can also generate triangular profiles. The
command’s Target Position can be in the range of

-1,073,741,824 to +1,073,741,823 counts. The move
will be clockwise if the Target Position is greater than
the Current Position and counter-clockwise if the Tar-
get Position is less than the Current Position.
1) The Home Position of the machine must be set before running an Absolute Move. See the
reference section, Homing an SV160E2 , which starts on page 41, for information on hom-
ing the machine.
2) Absolute Moves allow you to move your machine without having to calculate relative posi-
tions. If you are controlling a rotary table, you can drive the table to any angle without hav-
ing to calculate the distance to travel. For example an Absolute Move to 180° will move the
table to the correct position regardless of where the move starts from.
Controlled Stops

The move completes without error.

You issue a Hold Move command through the Network Output Data. Note that your holding position
will most likely not be the final position you commanded. You can resume a held Absolute Move by
using the Resume Move command or the move can be aborted by starting another move. The use of the
Hold Move and Resume Move commands is further explained in the
Controlling Moves In Progress
section starting on page 36.
Immediate Stops

You issue an Immediate Stop command through the Network Output Data.

An inactive-to-active transition on an input configured as an E-Stop Input. A Reset Errors command
must be issued before moves are allowed again.

A CW or CWW Limit Switch is reached. A Reset Errors command must be issued before moves are
allowed again.

If set to a non-zero value, the Immediate Stop Deceleration parameter, described on page 26, is used to
decelerate the load.
Figure R2.4 Absolute Move
SPE
ED
POSITION
A
B