MC-Basic:MOVE

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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> | <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

Move X-axis 1200 VelocityCruise=700   'Single axis Move<br>

Move G1 {100, 145} absolute = 0       'Group Move

See Also