TMCM-170 and TMCM-171 MODULE – Reference and Programming Manual
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Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
3.1.4 MVP - Move to Position
Description:
A movement towards the specified position is started, with automatic generation of
acceleration- and deceleration ramps. The maximum velocity and acceleration are defined by axis
parameters #4 and #5.
Two operation types are available:
Type 0: Moving to an absolute position in the range from -2
31
to +2
31
.
Type 1: Starting a relative movement by means of an offset to the last ramp generator position. In this
case, the resulting new position value must not exceed the above mentioned limits, too.
Internal function:
A new position value is transferred to the axis parameter #2 target position.
Related commands:
SAP, GAP, MST
Mnemonic
: MVP <ABS|REL >, <motor number>, <position | offset>
Binary representation:
INSTRUCTION NO.
TYPE MOT/BANK
VALUE
0 ABS – absolute <motor number>
<position>
4
1 REL – relative
<motor number>
<offset>
Examples:
Move motor #0 to (absolute) position 90000
Mnemonic:
MVP ABS, 0, 9000
Binary:
Byte Index
0
1
2
3
4
5
6
7
8
Function
Target-
address
Instruction
Number
Type Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01 $04 $00
$00
$00 $01 $5f $90 $f5
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
8
Function
Target-
address
Instruction
Number
Type Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Checksum
Value (hex)
$01 $04
$01
$00
$ff $ff $fc $18 $18
Note:
Before using the MVP command, one has to set MVP specific parameters (please refer
command 3.2.1 SAP (set axis parameter), Type 4, 8-10).
