!AMPO Set event when the motor absolute position is equal or over a 32-bit long value or the value of a long variable |
Syntax
value32: 32-bit long immediate value Binary code
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.
Example //Reverse when motor position >= 1rev //Position feedback: 500 lines encoder (2000 counts/rev) CACC = 0.1591; //acceleration rate = 500[rad/s^2] CSPD = 40; //jog speed = 1200[rpm] MODE SP; // set trapezoidal speed profile mode UPD; //execute immediate CSPD = -40; //jog speed = -1200[rpm] !AMPO 2000; // Set event: when motor absolute position >= 1 rot WAIT!; //Wait until the event occurs UPD; //Update. Speed command is reversed
Remark: You can activate a new motion on a programmed event in 2 ways:
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