Function of reference

Events – Function of reference. Related TML Instructions and Data

Setting any of these events allows you to detect when the position or speed or torque reference is equal or over/under a value or the value of a variable. Use:

•	Position reference events, only when position control is performed

•	Speed reference events, only when speed control is performed

•	Torque reference events, only when torque control is performed

Remark: Setting an event based on the position or speed reference is particularly useful for open loop operation where motor position and speed is not available

Variables

TPOS	Target load position – position reference computed by the reference generator at each slow loop sampling period, when position or speed control is performed. Measured in position units

TSPD	Target load speed – speed reference computed by the reference generator at each slow loop sampling period, when position or speed control is performed. Measured in speed units

IQREF

Current reference – Measured in current units

TREF Target reference. It is a:

▪	Position reference, when position control is performed

▪	Speed reference, when speed control is performed

▪	Current/torque reference, when torque control is performed

▪	Voltage reference, when voltage control is performed

Function of the control mode, it is measured in position units or speed units or current units or voltage command units

Instructions

!PROvalue32

Set event if position reference is equal or over value32. Value32 is a long integer value. Measured in position units

!PROvar32

Set event if position reference is equal or over var32. Var32 is a long integer TML parameter or variable. Measured in position units

!PRUvalue32

Set event if position reference is equal or under value32. Value32 is a long integer value. Measured in position units

!PRUvar32

Set event if position reference is equal or under var32. Var32 is a long integer TML parameter or variable. Measured in position units

!SROvalue32

Set event when speed reference is equal or over value32. Value32 is a fixed value. Measured in speed units

!SROvar32

Set event when speed reference is equal or over var32. Var32 is a fixed TML parameter or variable. Measured in speed units

!SRUvalue32

Set event when speed reference is equal or under value32. Value32 is a fixed value. Measured in speed units

!SRUvar32

Set event when torque reference is equal or under var32. Var32 is a fixed TML parameter or variable. Measured in speed units

!TROvalue32

Set event when torque reference is equal or over value32. Value32 is a fixed value. Measured in current units

!TROvar32

Set event when speed reference is equal or over var32. Var32 is a fixed TML parameter or variable. Measured in current units

!TRUvalue32

Set event when torque reference is equal or under value32. Value32 is a fixed value. Measured in current units

!TRUvar32

Set event when speed reference is equal or under var32. Var32 is a fixed TML parameter or variable. Measured in current 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

// Motor will reach a hard stop. Disable control when torque

// reference > 1 A = 1984 internal current units

!TRO 1984.0; // set event when torque reference > 1 A

WAIT!;//Wait until the event occurs

AXISOFF; // disable control