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

Syntax                        

!AMPU value32

! if AbsoluteMotorPositionUnder value32

!AMPU VAR32

! if AbsoluteMotorPositionUnder VAR32

 

OperandsVAR32: long variable

value32: 32-bit long immediate value

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DescriptionSets the event condition when the motor 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 motor absolute position <= value32, respectively VAR32. This operation erases a previous programmed event that has occurred.

 

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