Emerson DSM314 - Page 194

User Manual Chapter 7
GFK-1742F Jan 2020
Programmed Motion 183
PMOVE
The PMOVE command programs a positioning move using the specified position and
acceleration mode.
Syntax:
PMOVE {<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.
PROGRAM
The PROGRAM statement is the first statement in a motion program. The program
statement identifies the program number (1-10) and the axis configuration. Program
definitions cannot nest.
There are two types of motion programs, single axis in which all commands are directed to
the same axis, and multi-axis, which may contain commands for axis 1 and axis 2. The
program type is specified by the PROGRAM statement. A single-axis program is identified
by specifying the target axis following the program number (for example, PROGRAM 3
AXIS1). A multi-axis program is identified by the word MULTI-AXIS following the program
number (for example, PROGRAM 4 MULTI-AXIS).
The program axis configuration is used to enforce whether or not the axis parameter must
be supplied in the program’s motion commands. It also restricts multi-axis programs to
calling multi-axis subroutines, and single-axis programs to calling single-axis subroutines.
The axis specified in a single-axis program is used by any subroutine it calls; therefore, an
axis number should not be specified anywhere within a single-axis subroutine.