Function of variable value

Events – Function of a 32-bit variable value. TML Instructions and Data

Setting any of these events allows you to detect when a selected variable is equal or over/under a value or the value of a variable. The selected variable can be any 32-bit TML variable, long or fixed.

Instructions

!VO var32, value32 Set event when 32-bit TML parameter or variable var32 is equal or over value32. Value32 is either a long or a fixed, depending on var32 type.

!VO var32, var32c Set event when 32-bit TML parameter or variable var32 is equal or over var32c. Var32c is a 32-bit TML parameter of variable of the same type like var32.

!VU var32, value32 Set event when 32-bit TML parameter or variable var32 is equal or under value32. Value32 is either a long or a fixed, depending on var32 type.

!VU var32, var32c Set event when 32-bit TML parameter or variable var32 is equal or under var32c. Var32c is a 32-bit TML parameter of variable of the same type like var32.

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

//Wait until master position MREF > 500 counts, then activate

//electronic gearing slave mode

!VO MREF, 500; //Set event when variable MREF is <= 500

GEAR = 1; // gear ratio

GEARMASTER = 1; // Gear ratio denominator

GEARSLAVE = 1; // Gear ratio numerator

EXTREF 2; // read master from 2nd encoder or pulse & dir

MASTERRES = 2000; // master resolution

MODE GS; //Set as slave, position mode

TUM1; //Set Target Update Mode 1

SRB UPGRADE, 0xFFFF, 0x0004;//UPGRADE.2=1 enables CACC limitation

CACC = 0.3183; //Limit maximum acceleration at 1000[rad/s^2]

UPD!; //execute on event