3 types of movement category can be programmed:
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movements on a position (instruction codes 01 and 09),
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movements until event detection (instruction codes 10 and 11),
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reference points (instruction code 14).
The reach position and speed must be set while programming. Acceleration parameters (e.g. rectangular, trapezoidal or triangular) are set in the configuration.
With a limited machine, types of movement are as follows:
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Absolute in relation to the machine homing point (code 90).
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Relative in relation to current position (code 91).
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Relative in relation to stored position PREF1 (code 98).
