# Motion

This chapter explains enable and stop controls, absolute, relative, and continuous motion, and the speed, acceleration, deceleration, and jerk settings in the Motion window. Always verify site safety conditions before commanding motion.

## Before You Begin

Item | What to Check
--- | ---
Connected device | The main window is connected to the target drive, and the current connection ID matches the physical device.
Mechanical clearance | Make sure no people, tools, fixtures, or cables interfere with the direction of motion, target position, or travel range.
Stopping provisions | Confirm that Stop in both the Motion window and the main window is available, and that site power-off or emergency-stop facilities are ready.
Parameter settings | Confirm that speed, acceleration, deceleration, and jerk suit the device and load. Do not use values from an unknown source.

High-risk operation: Before enabling the drive or starting target-position, relative, or continuous motion, make sure the mechanism cannot collide, overtravel, or injure anyone. Do not perform a trial run until the target device and site safety conditions have been verified.

## Access and Function Overview

The Motion window displays the current position and motion parameters and provides controls for enable/stop, absolute motion, relative motion, and continuous motion.

Access/Area | Purpose | Notes
--- | --- | ---
Main window → Motion | Opens the Motion window to view the current position and set motion parameters. | Open it after a successful connection. The default axis is Axis A.
Enable | Sends an enable command to the drive so the motor can move. | After enabling, the mechanism may hold torque or respond to subsequent motion commands.
Stop | Stop in the Motion window stops the current motion. | Ends the current motion process; it does not replace a site emergency stop or power-off protection.
Stop | Stop in the main window disables the drive. | Exits the enabled state; it does not replace a site emergency stop or power-off protection.
PTP Move Absolute | Enter a target position and click Move to Target Pos to execute absolute-position motion. | The target is an absolute value relative to the position reference. Confirm the current position reference before executing.
PTP Move Relative | Enter a relative displacement and select the forward or reverse direction to execute relative motion. | Forward and reverse change the direction of motion. A prompt appears if the input is empty or incorrectly formatted.
Jogging | Runs continuously in the selected direction at the current speed. Normally, motion ends when the direction button is released or Stop is clicked. | Enabling the persistent-motion option changes the behavior after the button is released. Confirm there is no collision risk first.

## Set Motion Parameters

The top of the Motion window shows the current position and settings for acceleration, deceleration, speed, jerk, and wait time. After making changes, click Apply to use the new values for subsequent motion.

Parameter | Unit/Range | Recommendation
--- | --- | ---
Position | Read-only display in counts. | Observe the position before and after motion to verify that it changes as expected.
Acc. | Unit: count/s²; normally set to 1 to 3 times the operating speed. | Affects the speed change during startup. Begin with a conservative value for heavy loads, low mechanical rigidity, or first commissioning.
Dec. | Unit: count/s²; normally set to 1 to 3 times the operating speed. | Affects the speed change during stopping. Begin with a conservative value for heavy loads, low mechanical rigidity, or first commissioning.
Speed | Unit: count/s; range: 0 to the rated speed allowed by the device. | Use a low speed for the first movement. Increase it gradually after confirming the direction and travel.
Jerk | Unit: microseconds; displayed range: 50 to 25600. | Adjusts the smoothness of speed changes. After changing it, use a short travel to check shock and response.
Stop Time | Unit: ms; value must be 0 or greater. | Before repeated motion, confirm that the mechanism permits repeated operation.
Absolute position | Unit: count. | Depends on the current position reference. Confirm that the target is within the permitted travel before executing.
Relative displacement | Unit: count. | Depends on the selected direction and available travel. Confirm that it will not cause overtravel.
Repetitive | Checkbox. | Use only after confirming the motion range and site safety conditions. Leave it cleared for the first trial run.
Run Held | Checkbox. | Use only after confirming the stopping method, motion range, and site safety conditions. Leave it cleared for the first trial run.

To read the current parameters without changing them, click Refresh. To use modified motion parameters for subsequent motion, click Apply and wait for the operation to finish.

## Enable and Stop

1. Connect to the target drive and confirm the current connection ID and enable status in the main window.
2. Open the Motion window and check the current position and motion parameters.
3. After confirming site safety, click Enable.
4. To stop the current motion, click Stop in the Motion window. To disable the drive, return to the main window and click Stop.
5. After stopping, observe the current position, Status Monitor, and physical mechanism to confirm that motion has ended.

The two Stop buttons serve different purposes: the Motion-window button stops the current motion, while the main-window button disables the drive. Neither is guaranteed to replace a hardware emergency stop. If there is a risk of loss of control, collision, or injury, use the site safety provisions first.

## Absolute-Position Motion

1. Confirm that the current position reference is correct and that the target is within the permitted travel.
2. Enter the target under PTP Move Absolute.
3. Select reciprocating motion if required; leave it cleared for the first trial run.
4. Click Move to Target Pos.
5. Observe the mechanism direction, current-position change, and Status Monitor to verify the result.

High-risk operation: Absolute position depends on the current zero point and position reference. If an encoder reset, mechanical zero calibration, or parameter download was just performed, verify the position reference before clicking Move to Target Pos.

## Relative and Continuous Motion

Operation | Procedure | Verification
--- | --- | ---
Relative motion | Under PTP Move Relative, enter a relative displacement and click Forward or Backward. | Confirm that the position change and direction are as expected. If the input is empty or incorrectly formatted, correct it as prompted.
Reciprocating relative motion | Select reciprocating motion, then execute relative motion. | Confirm sufficient clearance between the current and target positions. Reduce the speed first if necessary.
Continuous motion | Select a direction under Jogging. Normally, release the direction button or click Stop to end motion. | If persistent motion is enabled, confirm the stopping method according to site procedures and continuously observe the mechanism.

Before continuous motion, a prompt asks you to confirm that the module can move without collision. This prompt does not mean the software has automatically performed collision detection; on-site verification is still required.

## Troubleshooting

Symptom | Recommended Action
--- | ---
No movement after a motion command | Confirm that the target drive is connected and enabled, the speed is not 0, and Status Monitor shows no error or alarm.
Relative motion requests a position | Enter an integer in the relative-displacement field. Do not enter a decimal point, comma, semicolon, or colon.
Motion direction is opposite to the expected direction | Stop immediately. Check the forward/reverse selection, target-position sign, encoder direction, and mechanical installation direction.
Motion is too fast or causes excessive shock | Reduce the speed, acceleration, deceleration, or jerk setting, then retest under safe conditions.
Abnormal status remains after stopping | Check Status Monitor and error messages and record the site state. Do not repeatedly send motion commands.
Operation cannot be restored after repeated stops | End the trial run and record the current position, status word, alarms, and errors. Then power off for inspection according to site procedures or contact support.