Emerson DSM314 - Page 191

User Manual Chapter 7
GFK-1742F Jan 2020
Programmed Motion 180
2. If caller is a subroutine, it cannot call itself (no recursive calls) or call another
subroutine that directly or indirectly references it.
3. Call destination subroutine must be defined in the same file.
4. Single-axis programs and subroutines can only call single-axis subroutines. Multi-
axis programs and subroutines can only call multi-axis subroutines.
CMOVE
The CMOVE command programs a continuous move using the specified position and
acceleration mode.
Syntax:
CMOVE {<axis>} <position>, <positioning mode>, <acceleration mode>
Parameter
Description
<axis>
The axis can only be specified in a multi-axis program or subroutine.
The axis may be specified using the AXISx keywords or constants.
<position>
The destination positions. May be a constant or a parameter data
register.
<positioning mode>
Specifies incremental (INCR) or absolute (ABS) positioning.
<acceleration mode>
Specifies linear (LINEAR) or s-curve (S-CURVE) acceleration for the
move.
Aliases:
None
Errors:
1. Axis specified in single-axis program.
2. No axis specified in multi-axis program.
3. Position must be in the range of –536,870,912 – 536,870,911, or parameter data
register 0 - 255.
4. Positioning mode must be either INCR or ABS.
5. Acceleration mode must be either LINEAR or S-CURVE.
6. Specified axis does not support programmed motion.