2-2-2
．
Absolute position motion [MOTOA]
1.
Instruction summarize
This instruction runs with absolute position, it can real-time modify the target position and speed
when it is running.
Absolute position motion [MOTOA]
16-bit
32-bit
MOTOA
Execution
condition
Rising edge/falling edge of the coil
Suitable
model
XDC
Hardware -
Software
-
2.
Operand
Operand
Function
Model
S0
Target position
32-bit integer
S1
Speed
32-bit integer
S2
The time accelerating from 0 to S1
32-bit integer
S3
Axis no.
16-bit constant
3.
Suitable soft component
*Note: D means D, HD; TD means TD, HTD; CD means CD, HCD, HSCD, HSD; DM means DM, DHM;
DS means DS, DHS. M means M, HM, SM; S means S, HS, T means T, HT; C means C, HC.
MOTOA
HD0
HD100
K50
M0
S1·
S2·
S3
K1
S0·
●
when M0 is from OFF
→
ON, axis S3 accelerates to speed S1 with acceleration speed S2,
absolute moves to position S0 and stop.
S0: absolute position , the value can be positive or negative , if the value is equal to the present
position, the motor will not run. If the value is less than present position, the motor will reverse
run.
S1: set to positive value, if set to negative value, it will run as abosulte value.
S2
：
the time accelerating from 0 to target speed, unit is ms.
operand
System
Constant Module
D
*
FD
TD
*
CD
*
DX
DY
DM
*
DS
*
K /H
ND
QD
S0
●
●
S1
●
●
S2
●
●
S3
●
word
Function and action
