Difference between revisions of "MC-Basic:MOVE"
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| + | {{MC-Basic | ||
| + | |SHORT FORM= | ||
| − | + | ||
| + | |SYNTAX= | ||
| + | Move <''axis''> ?'"`UNIQ--nowiki-00000001-QINU`"'? <''group''> ''<final position value>'' ''{Optional Property}''* ''{VelocityFinal = <final velocity value>}'' | ||
| + | |||
| + | |AVAILABILITY= | ||
| + | All versions | ||
| + | |||
| + | |DESCRIPTION= | ||
| + | Executes point-to-point moves from current position to target position of a single axis or a group of axes. | ||
| + | |||
| + | When a group of axes are being moved, their motion is coordianted in space to generate a straight line. | ||
| + | With groups, the velocity of each axis is set as if the axes composing the group are perpendicular to one another. | ||
| + | |||
| + | Sequential MOVE commands may be combined to yield a continuous motion using the VELOCITYFINAL property, but care must be taken that the subsequent moves continue the previous move in the same direction. | ||
| + | |||
| + | The MOVE command must specify the <''axis''> or <''group''> and the ''<final position value>''. | ||
| + | Other properties are optional and may be selected from the following list: ABSOLUTE, VELOCITYCRUISE, ACCELERATION, DECELERATION, JERK, SMOOTHFACTOR, STARTTYPE, VELOCITYRATE, ACCELERATIONRATE, JERKRATE, DECELERATIONRATE. | ||
| + | These optional properties override the permanent values of the properties for the duration of the command. | ||
| + | When using an optional property, the keyword must be specified. | ||
| + | The properties are used in the following manner: | ||
| + | :''<Property>'' = <''value''> | ||
| + | The permanent value is overriden for the duration of the MOVE. | ||
| + | |||
| + | For axes, the ''<final position value>'' is a scalar value. | ||
| + | For groups, the ''<final position value>'' is a vector, enclosed in braces { }. | ||
| + | |||
| + | |TYPE= | ||
| + | Double | ||
| + | |||
| + | |RANGE= | ||
| + | ''<final position value>'': ± MaxDouble<br> | ||
| + | |||
| + | Velocity and acceleration parameters are limited by the respective maximum values (specified by the user). | ||
| + | |||
| + | |UNITS= | ||
| + | * ''<final position value>'': user units, as given by POSITIONFACTOR. | ||
| + | * VELOCITYCRUISE and VELOCITYFINAL: user units, as given by VELOCITYFACTOR | ||
| + | * ACCELERATION: user units, as given by ACCELERATIONFACTOR | ||
| + | * DECELERATION: user units, as given by ACCELERATIONFACTOR | ||
| + | * JERK: user units, as given by JERKFACTOR | ||
| + | * VELOCITYRATE, ACCELERATIONRATE, JERKRATE and DECELERATIONRATE: percents of the relevant scaled property units. | ||
| + | |||
| + | |DEFAULT= | ||
| + | By default, the permanent values of the element properties are used.<br> | ||
| + | |||
| + | VELOCITYFINAL: 0 | ||
| + | |||
| + | |SCOPE= | ||
| + | Task or Terminal | ||
| + | |||
| + | |LIMITATIONS= | ||
| + | * A motion element may not be moved if it is attached by another task. | ||
| + | * An axis and a group containing that axis may not be moved simultaneously | ||
| + | |||
| + | |EXAMPLE= | ||
| + | ?'"`UNIQ--pre-00000002-QINU`"'? | ||
| + | |||
| + | |SEE ALSO= | ||
| + | * [[MC-Basic:element.ABSOLUTE|axis.ABSOLUTE]] | ||
| + | * [[MC-Basic:element.ACCELERATION|axis.ACCELERATION]] | ||
| + | * [[MC-Basic:element.ACCELERATIONFACTOR|axis.ACCELERATIONFACTOR]] | ||
| + | * [[MC-Basic:element.DECELERATION|axis.DECELERATION]] | ||
| + | * [[MC-Basic:axis.POSITIONFACTOR|axis.POSITIONFACTOR]] | ||
| + | * [[MC-Basic:element.SMOOTHFACTOR|axis.SMOOTHFACTOR]] | ||
| + | * [[MC-Basic:element.STARTTYPE|axis.STARTTYPE]] | ||
| + | * [[MC-Basic:element.VELOCITYCRUISE|axis.VELOCITYCRUISE]] | ||
| + | * [[MC-Basic:element.VELOCITYFACTOR|axis.VELOCITYFACTOR]] | ||
| + | * [[MC-Basic:element.ACCELERATIONRATE|axis.ACCELERATIONRATE]] | ||
| + | * [[MC-Basic:element.JERKRATE|axis.JERKRATE]] | ||
| + | * [[MC-Basic:element.DECELERATIONRATE|axis.DECELERATIONRATE]] | ||
| + | * [[MC-Basic:element.VELOCITYRATE|axis.VELOCITYRATE]] | ||
| + | * [[MC-Basic:element.VELOCITYFINAL|axis.VELOCITYFINAL]] | ||
| + | |||
| + | |||
| + | }} | ||
Revision as of 09:25, 19 December 2019
Executes point-to-point moves from current position to target position of a single axis or a group of axes.
When a group of axes are being moved, their motion is coordianted in space to generate a straight line. With groups, the velocity of each axis is set as if the axes composing the group are perpendicular to one another.
Sequential MOVE commands may be combined to yield a continuous motion using the VELOCITYFINAL property, but care must be taken that the subsequent moves continue the previous move in the same direction.
The MOVE command must specify the <axis> or <group> and the <final position value>. Other properties are optional and may be selected from the following list: ABSOLUTE, VELOCITYCRUISE, ACCELERATION, DECELERATION, JERK, SMOOTHFACTOR, STARTTYPE, VELOCITYRATE, ACCELERATIONRATE, JERKRATE, DECELERATIONRATE. These optional properties override the permanent values of the properties for the duration of the command. When using an optional property, the keyword must be specified. The properties are used in the following manner:
- <Property> = <value>
The permanent value is overriden for the duration of the MOVE.
For axes, the <final position value> is a scalar value. For groups, the <final position value> is a vector, enclosed in braces { }.
Syntax
Move <axis> ?'"`UNIQ--nowiki-00000001-QINU`"'? <group> <final position value> {Optional Property}* {VelocityFinal = <final velocity value>}
Availability
All versions
Type
Double
Range
<final position value>: ± MaxDouble
Velocity and acceleration parameters are limited by the respective maximum values (specified by the user).
Units
- <final position value>: user units, as given by POSITIONFACTOR.
- VELOCITYCRUISE and VELOCITYFINAL: user units, as given by VELOCITYFACTOR
- ACCELERATION: user units, as given by ACCELERATIONFACTOR
- DECELERATION: user units, as given by ACCELERATIONFACTOR
- JERK: user units, as given by JERKFACTOR
- VELOCITYRATE, ACCELERATIONRATE, JERKRATE and DECELERATIONRATE: percents of the relevant scaled property units.
Default
By default, the permanent values of the element properties are used.
VELOCITYFINAL: 0
Scope
Task or Terminal
Limitations
- A motion element may not be moved if it is attached by another task.
- An axis and a group containing that axis may not be moved simultaneously
Examples
?'"`UNIQ--pre-00000002-QINU`"'?