Intelligent Motion Systems 17 Network Card User Manual


 
31
Math Functions
Another powerful feature of the MDrive Motion Control is its ability to perform common math functions and to use these to
manipulate data.
Addition .................................................................... K2
=P+R2
Subtraction ................................................................. K3
=R1-P
Multiplication .............................................................. A=A*2
Division ......................................................................... A=A/2
User-defined variable used as an example.
Motion Commands
MA
Move to an absolute position relative to a defined zero position.
For example, type the following commands followed by hitting enter:
P=0
MA 20000
H
PR P
The terminal screen will read 20000
MA 3000
H
PR P
The screen will echo back 3000.
MR
Move number of steps indicated relative to current position.
For example, type the following commands followed by hitting enter:
P=0
MR 20000
H
PR P
The terminal screen will read 20000
MR 3000
H
PR P
Notice the position echoed is 23000 and not 3000.
SL
Move at a constant velocity.
SLEW 200000
The motor will move at a constant velocity 200000 steps per second.
H
An H (hold) should typically follow any MA or MR commands in a program so that program execution is suspended until motion
is complete.
(Note: There are circumstances where you may not want to hold up program execution.)
Below is a usage example.
PG 100 ‘enter program mode at address 100
LB M1 ‘label program M1
MR 20000 ‘set motion mode to relative, move relative 20000 steps
H ‘hold until motion completes
-20000 ‘move relative -20000 steps
H ‘hold until motion completes
E ‘end program
PG ‘exit program mode