Syntax
CPA |
Command Position is Absolute |
| Operands | – |
Binary code
| Description | After the execution of this instruction, all subsequent position commands will be considered as absolute in the following motion modes: trapezoidal profiles, S-curve profiles, PVT and PT. This setting remains until the execution of a CPR command. |
Example
//Position profile
//Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.3183;//acceleration rate = 1000[rad/s^2]
CSPD = 16.6667;//slew speed = 500[rpm]
CPOS = 12000;//position command = 6[rot]
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate