Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-33
Motion and Axis Commands
MOVE
Syntax:
MOVE(distance1 [,distance2[ ,distance3[ ,distance4...]]])
Type:
Motion Command
Alternate Format:
MO()
Description:
Incremental move. Axis or axes move at the programmed speed and acceleration to
a position specified as an increment from the end of the last specified move.
Note:
The
MOVE
command can interpolate up to 3 axes on MC202, 8 axes on MC206 or
Euro205, and 16 axes on MC216. The values specified are scaled using the UNIT
CONVERSION FACTOR, axis parameter
UNITS
. Therefore if, for example, an axis has
4000 encoder edges/mm then UNITS for that axis are 4000. The command
MOVE(12.5)
would move 12.5 mm. The first parameter in the list is sent to the
BASE
axis or can be re-directed with the
AXIS()
command, the second to the next axis in
the BASE array, etc. By changing the axis uninterpolated, unsynchronised multi-axis
motion can be achieved. Incremental moves can be merged together for profiled
continuous path movement.
MERGE
should be set to
ON
. In multi-axis systems the
speed and acceleration employed for the movement are taken from the first axis in
the group.
Parameters:
The number of parameters can increase to the number of axes on the controller
Example 1:
A system is working with a unit conversion factor of 1 and has a 1000 line encoder. It
is therefore necessary to give the instruction
MOVE(40000)
to incrementally move
10 turns on the motor. (A 1000 line encoder gives 4000 edges/turn)
distance1:
distance to move on base axis from current position.
distance2:
distance to move on next axis in BASE array from current posi-
tion.]
[distance3:
distance to move on next axis in BASE array from current posi-
tion.]
[distance4:
distance to move on next axis in BASE array from current posi-
tion.]
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