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All BASIC commands
Section 4-2
193
4-2-160 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.
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...All BASIC commands Section 4 2 266...
Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 371: ...360 Index...
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