Function of motor or load position

Events – Function of motor or load position. Related TML Instructions and Data

Setting any of these events allows you to detect when the load or motor absolute or the relative position is equal or over/under a value or the value of a variable.

The absolute load or motor position is the measured position of the load or motor. The relative position is the load displacement from the beginning of the actual movement. For example if a position profile was started with the absolute load position 50 revolutions, when the absolute load position reaches 60 revolutions, the relative motor position is 10 revolutions.

Remark: The origin for the relative position measurement (TML variable POS0) is set function of the target update mode. Under TUM1, POS0 = TPOS. Under TUM0, POS0=APOS_LD.

Variables

POS0	Origin for the relative position measurement for the position events. Measured in position units

RPOS	Relative load position for the position events. It is computed with formula: RPOS = APOS_LD – POS0. Measured in position units

TPOS	Target position – position reference computed by the reference generator at each slow loop sampling period. Measured in position units

APOS_LD Actual load position. Measured in position units. Alternate name: APOS

APOS_MT Actual motor position. Measured in motor position units.

Instructions

!AMPOvalue32

Set event when motor absolute position is equal or over value32. Value32 is a long integer. Measured in motor position units

!AMPOvar32

Set event when motor absolute position is equal or over var32. Var32 is a long integer TML parameter or variable. Measured in motor position units

!ALPOvalue32

Set event when load absolute position is equal or over value32. Value32 is a long integer. Measured in position units

!ALPOvar32

Set event when load absolute position is equal or over var32. Var32 is a long integer TML parameter or variable. Measured in position units

!AMPUvalue32

Set event when motor absolute position is equal or under value32. Value32 is a long integer. Measured in motor position units

!AMPUvar32

Set event when motor absolute position is equal or under var32. Var32 is a long integer TML parameter or variable. Measured in motor position units

!ALPUvalue32

Set event when load absolute position is equal or under value32. Value32 is a long integer. Measured in position units

!ALPUvar32

Set event when load absolute position is equal or under var32. Var32 is a long integer TML parameter or variable. Measured in position units

!RPOvalue32

Set event when load relative position is equal or over value32. Value32 is a long integer. Measured in position units

!RPOvar32

Set event when load relative position is equal or over var32. Var32 is a long integer TML parameter or variable. Measured in position units

!RPUvalue32

Set event when load relative position is equal or under value32. Value32 is a long integer. Measured in position units

!RPUvar32

Set event when load relative position is equal or under var32. Var32 is a long integer TML parameter or variable. Measured in position units

UPD!	Update the motion mode and/or the motion parameters when the programmed event occurs

STOP!

Stop motion with the acceleration/deceleration set in CACC, when the programmed event occurs

WAIT! value16

Wait until the programmed event occurs. If the command is followed by value16, the wait ends after the time interval specified in this 16-bit integer value. Value16 is measured in time units

Programming Example

//Stop motion when motor position > 3 rev

//Position feedback: 500 lines encoder (2000 counts/rev)

!AMPO 6000; //Set event: when motor absolute position is >= 3 rev

STOP!;//Stop the motion when the event occurs

WAIT!;//Wait until the event occurs