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madthacks · Junior Joined: 25 Jan 2018 Posts: 2

Just wondering can you change the target position of an MAM move once started.

anm27 · Junior Joined: 25 Jan 2018 Posts: 2

Use Merge to cancel the motion of other instructions

How you want to handle any motion that’s already in process?
Add the move to any motion already in process then
Merge = Disabled
Merge Speed = Programmed
The instruction ignores Merge Speed but you must fill it in anyway.

End the motion from other instructions and just jog
Move at the Speed that you set in this instruction
Merge = Enabled
Merge Speed = Programmed

Move at the speed that the axis is already moving
Merge = Enabled
Merge Speed = Current
The instruction ignores the value that you put in the Speed operand.

Is This an Absolute or Incremental Master Offset Move?
If this is an Absolute or Incremental Master Offset move and Merge is Enabled, then the following is true.
• The move only ends an Absolute or Incremental Master Offset move that is already in process.
• The move does not affect any other motion that is already in process.

OR

Use a second MAM instruction to change one that is already in process.

You can change the position, speed, acceleration, or deceleration. The change immediately takes effect.
To Change the Position of An

Absolute Move
Set Up a Second MAM Instruction Like This

Either:
• Set the Move Type to Absolute and the Position to the new position.
• Set the Move Type to Incremental and set the Position to the distance to change the end position. The new end position is the old end position plus the new incremental distance.
In either case, the axis moves to the new position without stopping at the old position—including any required change of direction.

Incremental Move
Either:
• Set the Move Type to Absolute and the Position to the new position. The axis goes directly to the new position without completing the incremental move.
• Set the Move Type to Incremental and set the Position to the additional distance. The axis moves the global of both incremental moves.

Combine a move with gearing for complex profiles and synchronization.
You can use a Motion Axis Gear (MAG) instruction together with an MAM instruction. This superimposes the gearing on top of the move or the move on top of the gearing.
Example: Superimpose an incremental move on top of electronic gearing for phase advance and retard control.

madthacks · Junior Joined: 25 Jan 2018 Posts: 2

Can't I just use an MRP command

anm27 · Junior Joined: 25 Jan 2018 Posts: 2

Motion Redefine Position (MRP) instruction to change the command or actual position of an axis but the process of redefining the current axis position has no affect on motion in progress as the instruction preserves the current servo following error during the redefinition process. As a result, axis position can be redefined on-the-fly without disturbing axis motion.