Description of SMOVE Function Parameters

At a Glance

The following parameters must be entered to program a movement function:

SMOVE (AXIS_CH1,N_Run,G9x,G,X,F,M)

IODDT

AXIS_CH1 is an IODDT type variable corresponding to channel 1 of the axis control module on which the function must be applied. AXIS_CH1 can be, for example, an IODDT of type T_AXIS_STD.

Movement Number

N_Run defines the movement number (between 0 and 32767). This number identifies the movement carried out by the SMOVE function.

In debugging mode, this number is used to determine the current movement.

Movement Type

G9x defines the movement type:

Code	Movement type
90	Absolute movement.
91	Relative movement with respect to the current position.
98	Relative movement with respect to stored PREF1 position. Instruction code G07 is used to store PREF1 position.
60	Absolute movement for set direction (infinite type machine only).
68	Relative movement with respect to PREF in set direction (infinite type machine only).

To choose the movement type, use the scroll button on the right of the G9x field, or enter the code directly with a "direct entry" (without going to the Details screen).

Instruction Code

G defines the instruction code for the SMOVE function.

Coordinates for Reach Position

X defines the coordinates of the reach position or where the moving part must move (in the case of non-stop movement). This position can be:

immediate,
coded in a %MDi internal double word or %KDi internal constant (this word can be indexed).

This value is expressed as a unit defined by the Length Units configuration parameter (for example; micron).

NOTE: In the case of G14, G21 and G62 instructions, this parameter represents the reference point value.

Moving Part Movement Speed

F defines the speed at which the moving part travels. This speed can be:

immediate,
coded in a %MDi internal double word or %KDi internal constant (this word can be indexed).

The speed unit is deduced from the selected length unit:

Speed = u x 1000 / min where u = length unit chosen.

For example, if the micron is chosen as the length unit, the speed unit will be:

micron x 1000 / min -> mm / min

M Parameter

M defines a word which codes nibbles (in hexadecimal):

activation or inactivation of the event processing application trigger for G10, G11, G05 and G07 instructions:
- bit 12 set to 1: activation,
- bit 12 set to 0: inactivation.
setting to 0 or 1 of auxiliary discrete output associated with channel:
- Nibble 2: activating moment
  
  0 = unchanged (no modification of output),
  
  1 = synchronous with movement (assignment of output at beginning of execution of instruction),
  
  2 = consecutive to movement (assignment of output at end of execution of instruction)
- Nibble 0: auxiliary output status during execution of G01, G09, G10 and G11 instructions
  
  0 = output set to 0 (AUX0 box not checked),
  
  1 = output set to 1 (AUX0 box checked).
event type expected by instruction G05:
- Bit 13
  
  0 = wait for time out or event,
  
  1 = wait modulo crossing number.

For example:

16#0101 = trigger for event processing application not activated, and auxiliary output set to 1 when SMOVE command is executed.
16#1200 = trigger for event processing application is activated, and auxiliary output set to 0 when SMOVE command has finished being executed.

NOTE: Coding is automatically completed in the M field on the Details screen, when the choices have been made using the check-boxes and buttons offered by the screen.