Omron SYSMAC CJ Series, Руководство по эксплуатации

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All BASIC commands Section 4-2
192
4-2-157 MOVEABS
/i
See also AXIS , MOVEABS , UNITS .
Type Axis command
Syntax MOVEABS(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [,
...]]]])
MA(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, ...]]]])
Description The MOVEABS command moves one or more axes at the demand
speed, acceleration and deceleration to a position specified as absolute
position, i.e., in reference to the origin. In multi-axis moves the move-
ment 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
MOVEABS (12.5) would move to a position 12.5 mm from the ori-
gin. MOVEABS 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 com-
mands, uninterpolated, unsynchronised multi-axis motion can be
achieved. Absolute moves can be merged for profiled continuous path
movements by turning on the
MERGE axis parameter.
Considering a 2-axis movement, the individual speeds are calculated
using the equations below. Given command
MOVE( ax
1
, ax
2
) , the current
position ( ay
1
, ay
2
) and the profiled 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
) , where x
1
= ax
i
- ay
i
.
The individual speed for axis at any time of the movement is calculated
as
v
i
= ( x
i
x v
p
) / L .
Arguments The command can take up to 32 arguments.
•
distance_i
The position to move every axis i to in user units starting with the
base axis.