Programming
Description of basic movements with the SMOVE function
Introduction
Absolute movement in relation to the machine origin
Some instructions of the SMOVE function allow you to carry out basic movements.
When programming these movements, the user defines the position to be reached and the speed. The acceleration parameter (constant, trapezoidal law of speed) is l l l defined by this adjustable parameter.
The movements can be: absolute in relation to the machine origin 90 relative in relation to the current position 91 relative in relation to the stored position PREF 98
Example of an absolute movement in relation to the machine origin 90.
Example: SMOVE %CH102.0 (1,90,01,50000,1000,0)
Speed
(Hertz)
1000
SS_FREQ
0
50000 position
(pulses)
TLX DS 57 PL7 40E 09.2000
85
Programming
Relative movement in relation to the current position
Example of a relative movement in relation to the current position 91.
Example: SMOVE %CH102.0 (1,91,01,40000,1000,0)
Speed
(Hertz)
1000
SS_FREQ
0
X X+40000 position
(pulses)
Relative movement in relation to the stored position
Example of a relative movement in relation to the stored position PREF 98.
Example: SMOVE %CH102.0 (1,98,01,30000,1000,0)
Speed
(Hertz)
1000
SS_FREQ
0
PREF PREF+30000 position
(pulses)
86
TLX DS 57 PL7 40E 09.2000
