!AMPU Set event when motor absolute position is equal or under a 32-bit 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 //Stop when motor position <= -3 rev //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; UPD; //execute immediate !AMPU -6000;// Set event: when motor position is < -3rev STOP!; //Stop when the event occurs WAIT!; //Wait until the event occurs |