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Motion Programming
PLC Motion Editor
94 CIMPLICITY Logic Developer - PLC Version 4.00 GFK-1918D
6
Motion Commands
ACCEL The ACCEL statement sets the axis acceleration for subsequent moves
and remains in effect in a given program unless changed. Note: If a
move instruction is executed before ACCEL, the tag Acceleration is
used.
BLOCK NUMBER Block numbers may be used as the destination of JUMP commands.
Block numbers must be unique and can be between 1 and 65535.
CAM The CAM statement starts CAM motion and specifies exit conditions.
CAM-LOAD CAM-LOAD loads a parameter register with the starting location for a
CAM slave axis.
CAM-PHASE CAM-PHASE sets the phase for CAM commands.
CALL The CALL command executes another block as a subroutine
CMOVE The CMOVE command programs a continuous move using the specified
position and acceleration mode.
DWELL DWELL causes motion to cease for a specified time period before
processing the next command.
ENDPROG The ENDPROG statement terminates a PLC Motion program definition.
ENDSUB The ENDSUB statement terminates a PLC Motion subroutine definition.
JUMP Jump to a block number or a sync block within the current program or
subroutine. The jump may be unconditional or conditional based on the
status of a CTL bit.
LOAD Initializes or changes a parameter data register with a 32-bit twos-
complement integer value.
PMOVE The PMOVE command programs a positioning move using the specified
position and accelerator mode.
PROGRAM The PROGRAM statement is the first statement in a motion program. The
program statement identifies the program number (1-10) and the axis
configuration. Program definitions cannot nest.
SUBROUTINE The SUBROUTINE statement is the first statement in a motion
subroutine. The subroutine statement identifies the subroutine number
(1-40) and the axis configuration.
SYNC BLOCK A sync block is a special case of a block number. A sync block may only
be used in multi-axis programs.
VELOC Sets the process VELOCITY used by subsequent motion program move
commands and remains in effect until changed by another VELOC
statement.