User manual
PD-1021 TMCL Firmware V1.19 Manual (Rev. 1.01 / 2012-JUL-30) 21
www.trinamic.com
3.5.4 MVP (move to position)
With this command the motor will be instructed to move to a specified relative or absolute position or a
pre-programmed coordinate. It will use the acceleration/deceleration ramp and the positioning speed
programmed into the unit. This command is non-blocking – that is, a reply will be sent immediately after
command interpretation and initialization of the motion controller. Further commands may follow
without waiting for the motor reaching its end position. The maximum velocity and acceleration are
defined by axis parameters #4 and #5.
The range of the MVP command is 32 bit signed (−2.147.483.648… +2.147.483.647). Positioning can be
interrupted using MST, ROL or ROR commands.
Please note, that the distance between the actual position and the new one should not be more than
2.147.483.647 (2
31
-1) microsteps. Otherwise the motor will run in the opposite direction in order to take
the shorter distance.
Two operation types are available:
- Moving to an absolute position in the range from −2.147.483.648… +2.147.483.647 (-2
31
… 2
31
-1).
- Starting a relative movement by means of an offset to the actual position. In this case, the new
resulting position value must not exceed the above mentioned limits, too.
Internal function: A new position value is transferred to the axis parameter #2 target position.
Related commands: SAP, GAP, SCO, CCO, GCO, MST
Mnemonic: MVP <ABS|REL|COORD>, 0, <position|offset|coordinate number>
Binary representation:
INSTRUCTION NO.
TYPE
MOT/BANK
VALUE
4
0 ABS – absolute
0*
<position>
−2.147.483.648…
+2.147.483.647
1 REL – relative
0*
<offset>
−2.147.483.648…
+2.147.483.647
2 COORD – coordinate
0*
<coordinate number>
0… 20
*motor number is always O as only one motor is involved
Reply in direct mode:
STATUS
VALUE
100 – OK
(don't care)
Example:
Move motor to (absolute) position 90000
Mnemonic: MVP ABS, 0, 90000
Binary:
Byte Index
0
1
2
3
4
5
6
7
Function
Target-
address
Instruction
Number
Type
Motor/
Bank
Operand
Byte3
Operand
Byte2
Operand
Byte1
Operand
Byte0
Value (hex)
$01
$04
$00
$00
$00
$01
$5f
$90