CPA                Position command is absolute

Syntax                        

CPA

Command Position is Absolute

Operands

PlaceTMLOnline

Binary code

DescriptionAfter 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