!ALPU                Set event when the load absolute position is equal or under a 32-bit long value or the value of a long variable

Syntax

!ALPU value32

! if AbsoluteLoadPositionUnder value32

!ALPU VAR32

! if AbsoluteLoadPositionUnder VAR32

 

OperandsVAR32: long variable

value32: 32-bit long immediate value

PlaceTMLOnline

Binary code

DescriptionSets the event condition when the load absolute position is equal or under the specified value or the value of the specified variable. After you have programmed an event, you can do the following actions:
•Change the motion mode and/or the parameters when the event occurs, with command UPD!
•Stop the motion when the event occurs, with command STOP!
•Wait for the programmed event to occur, with command WAIT!

The programmed event is automatically erased when the event occurs or if the timeout for the WAIT! command expires.

Remark: After setting UPD! or STOP! you need to wait until the programmed event occurs using WAIT!, otherwise, the program will continue with the next instructions that may override the event monitoring.

 

ExecutionActivates the monitoring of the event, when load absolute position <= value32, respectively VAR32. This operation erases a previous programmed event that has occurred.

 

Example        

//Change speed command when load absolute position is <= 10 rev

//Position feedback: 500 lines encoder (2000 counts/rev)

!ALPU 20000;//Set event: when load absolute position is <= 10 rev

CSPD = 13.3333;//new slew speed command = 500[rpm]

UPD!; //execute on event

WAIT!;//Wait until the event occurs