Description of the SMOVE function parameters

At a Glance

You must enter the following parameters in order to program a movement function:

SMOVE (Axis_ch1,N_Run,G9_,G,X,F,M)

IODDT

AXIS_CH1 is a variable of type IODDT corresponding to a channel 1 of the axes control module on which the function is to be performed. AXIS_CH1 is of the type T_STEPPER_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 debug mode, this number tells you which movement is in progress.

Movement type.

G9_ defines the movement type:

Code	Movement type.
90	Absolute movement.
91	Movement relative to the current position.
98	Movement relative to the stored PREF1 position. The storing of the PREF1 position is achieved using the instruction code G07.

To select the movement type, use the browse button situated to the right of the G9_ field or enter the code directly when inputting directly (without going to the Details screen).

Instruction code

G defines the instruction code for the SMOVE function

Coordinate of the position to be reached

X defines the coordinate of the position to be reached or towards which the moving part must move (in the case of a continuous movement). This position can be:

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

This value is expressed in the unit defined by the configuration parameter Length Units (e.g. micron).

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

Speed of movement of the moving part

F defines the speed of movement of the moving part. This speed can be:

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

The unit of speed is Hertz.

NOTE: The speed can be modulated in the course of the movement by means of the CMV (Speed Modulation Coefficient). Actual F = programmed F x CMV/1000. This parameter, initialized by default at 1000, can be in between [02000], the resulting speed must always be more than SS_FREQ. The value 0 signifies the moving part has been stopped.

Parameter M

M defines a word which is coded in 4-bit bytes (in hexadecimal):

the activation or non activation of the trigger for application event processing, for instructions G10, G11, G05 and G07:
- M = 16#1000: activation of the associated event task,
- M = 16#0000: non activation of the event task when the SMOVE command is executed.

For example:

NOTE: Coding is automatically performed in the M field in the Details screen, when you make selections using the check boxes and radio buttons available in this screen.