MOVE.MOVING

Description

MOVE.MOVING only indicates whether or not the commanded motion profile for MOVE.GOREL, MOVE.GOABS, MOVE.GOHOME, and MOVE.GOVEL is complete. Even when the commanded motion profile is completed (MOVE.MOVING = 0), there may still be motor motion as the result of settling time and/or electronic gearing. MOVE.MOVING is not applicable for EGEAR commands.

0 - commanded motion complete

1 - move in progress

MOVE.MOVING is high when:

The trajectory generator is active and the motor is moving, and for MOVE.DWELLTIME+ MOVE.SCURVETIME afterwards. The motor is considered not moving on exactly the same condition that stops the controlled stop (VL.FBFILTER is below CS.VTHRESH uninterrupted for at least CS.TO).
A controlled stop is being executed after hitting a limit switch. Execution stops when VL.FBFILTER is below CS.VTHRESH uninterrupted for at least CS.TO. The Controlled Stop parameters and settings are on the Enable/Disable screen in WorkBench.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE = 5.

Example

MOVE.RELATIVEDIST = 10000
MOVE.GOREL
While MOVE.MOVING : Wend
Pause(0.5)
MOVE.RELATIVEDIST = -MOVE.RELATIVEDIST
MOVE.GOREL

General Information

Type	R/O
Units	N/A
Range	0 or 1
Default Value	0
Data Type	Integer

Variants Supported

This parameter is only supported on AKD BASIC drives.

Fieldbus Information

Fieldbus	Index/Subindex	Is 64 bit?	Attributes	Signed?	Object Start Version
Modbus	1118	No	32 bit	No	M_01-05-11-000