MoveImmed Function

Description

This function causes the specified axis to move towards a given position at the specified speed. The movement is immediately applied and overrides any other move currently in progress. The movement in progress and any queued movements are cancelled.

An immediate movement can be:

Incremental: The movement occurs relative to the current position.
Continuous: the axis moves toward the maximum or minimum position. The minimum or maximum position is used as the target position of the Move function.
Absolute: the absolute movement causes the axis to move to an absolute position.

How to Use this Function

This function is implemented with the help of the WRITE_CMD instruction (see WRITE_CMD).

Associated Language Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object	Name	Function code	Description
%MWr.m.c.26	ACTION_CMD	513	Command
%MDr.m.c.27	PARAM_CMD_1	-	Movement Type (1)
%MDr.m.c.29	PARAM_CMD_2	-	Coefficient applied to the acceleration and deceleration configured, shown for one thousand (1 ≤ x ≤10000). see opcode 2172, real axis or imaginary axis.
%MFr.m.c.A (3)	PARAM_CMD_ B (3)	-	Target position of axis N (2)
%MFr.m.c.C (4)	PARAM_CMD_D (4)	-	Approach speed to target of N’ axis (5)
%MWr.m.c.19	ERROR_CMD	-	Error report. See WRITE_CMD Command: Programming Errors.

Legend
(1): INCR_MOVE, ABS_MOVE, ABS_MOVE_POS, ABS_MOVE_NEG, ABS_MOVE_ NO_ROLLOVER or CONT_MOVE
(2): N= 1 for an independent axis, N includes between 2 and 8 for a group of coordinated axes.
(3): A = [31+2(N-1)], B = [3+(N-1)]
(4): C = [31+2(N+N’-1)], D = [3+(N+N’-1)
(5): N’ = Position of the axis in the group

Example of Parameters for a Group of Coordinated Axes

For a movement with 2 member axes:

PARAM_CMD_1 (%MDr.m.c.27) = Movement type
PARAM_CMD_3 (%MFr.m.c.31) = Position of axis 1
PARAM_CMD_4 (%MFr.m.c.33) = Position of axis 2
PARAM_CMD_5 (%MFr.m.c.35) = Approach speed of axis 1
PARAM_CMD_6 (%MFr.m.c.37) = Approach speed of axis 2