AKD BASIC User Guide | 3 AKDBASICLanguage
The motor speed follows a trapezoidal velocity profile as specified by MOVE.ACC, MOVE.RU-
NSPEED, and MOVE.DEC. After the program initiates MOVE.GOHOME, it immediately goes
to the next instruction.
MOVE.GOHOME performs the same action as setting MOVE.TARGETPOS to zero and
executing a MOVE.GOABS function. Change MOVE.ACC, MOVE.DEC and MOVE.RU-
NSPEED during a move using MOVE.GOUPDATE
3.5.17 MOVE.GOREL
MOVE.GOREL (Go Relative) moves the motor shaft a relative distance from the current posi-
tion.
Distance, as specified in MOVE.RELATIVEDIST, is either positive or negative. The motor
speed follows a trapezoidal velocity profile as specified by MOVE.ACC, MOVE.RUNSPEED,
and MOVE.DEC.
The program does not wait for motion completion. After the program initiates this move it imme-
diately goes to the next instruction.
Change MOVE.ACC, MOVE.RUNSPEED, and MOVE.DEC during a move using
MOVE.GOUPDATE.
3.5.18 MOVE.GOUPDATE
MOVE.GOUPDATE (Update Move) updates a move in process with new variables. This
allows you to change motion “on the fly” without having to stop and restart the motion function
with new variables.
3.5.19 MOVE.GOVEL
MOVE.GOVEL (Go Velocity) moves the motor shaft at a constant speed.
The motor accelerates and reaches maximum speed as specified by MOVE.ACC and
MOVE.RUNSPEED, with direction determined by MOVE.DIR. Stop motion by:
l Programming MOVE.ABORT for maximum deceleration allowed by current limits.
l Programming MOVE.RUNSPEED = 0 for deceleration at rate set by MOVE.DEC.
After the program initiates MOVE.GOVEL, it immediately goes to the ne xt instruction.
Change variables during a move using MOVE.GOUPDATE.
3.5.20 On Error GoTo
On Error Goto Error-Handler-Name
or
On Error Goto 0
When a firmware runtime error condition occurs, Error-Handler-Name is called, the error handler
is de-installed, and an internal flag (in-error-handler) is set. Any subsequent runtime error (includ-
ing attempting to set the error handler, or return from the On Error handler) causes an immediate
Stop.
On Error Goto 0 disables the current On Error handler. If an error occurs when no error handler is
installed, Stop is invoked.
Kollmorgen™ | March 30, 2012 32
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