MAXnet Manual - Pro-Dex, Oregon Micro Systems - #151

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MAX COMMAND REFERENCE MANUAL 1-147 MR MOVE RELATIVE The MR command will set up one or more axes to move relative from their current positions at the time the move is executed. In the AA mode, an axis may remain stationary by entering a comma but omitting the parameter. The move is actually initiated by a GO or GD command. In AA mode all axes will start at the same time. Each axis will use its predefined acceleration and velocity values to move to the new position. Each axis may, or may not, get to the destination at the same time, because each axis utilizes individual velocities and accelerations. To ensure all axes reach their destinations simultaneously use the ML command. For programming linear interpolation moves with vector velocity and vector acceleration, see the VP command. Example: In the single axis mode, move the X axis 2468 steps in the negative direction. Enter: AX; MR-2468; GO; Response: None Example: In the AA mode, move the X axis 12345 steps in the positive direction and the Y axis 6789 steps in the positive direction. Both axes will start at the same time. Enter: AA; MR12345,6789; GO; Response: None QUEUE REQUIREMENTS FORMAT MODE COMMAND ARGUMENT MR#; Single Axis 1* 1* MR#,#,#,#,#,#,#,#; AA-AM 1* 1* * If the axis is a stepper encoder or servo axis add 1 to both the command and argument queues. * If the axis is using the cosine acceleration ramp, and velocity needs to be adjusted so the profile is not truncated, add 1 to the command queue and add 10 to the argument queue. * If the axis is using the S-curve acceleration ramp, and velocity needs to be adjusted so the profile is not truncated, add 3 to the command queue and add 41 to the argument queue. * If the acceleration and velocity values need to be reset to their AC and VL values because the last move just prior to this move was either a MT or ML move, add the following queue requirements: