!MC Set event when the actual motion is completed |
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The motion complete condition is reset when a new motion is started i.e. when the update command – UPD is executed. Remark: In case of steppers controlled open-loop, the motion complete condition for positioning is always set when the position reference arrives at the position to reach independently of the UPGRADE.11 status.
Example //Execute successive position profiles // Position feedback: 500 lines encoder (2000 counts/rev) POSOKLIM = 10; //Set settle band to 0.005[rot] TONPOSOK = 10; //Set stabilize time to 0.01[s] SRB UPGRADE, 0xFFFF, 0x0800; // motion complete with settle band CACC = 0.3183;//acceleration rate = 1000[rad/s^2] CSPD = 100;//slew speed = 3000[rpm] CPOS = 20000;//position command = 10[rot] CPR; //position command is relative MODE PP; TUM1; //set Target Update Mode 1 UPD; //execute immediate !MC; WAIT!; // set event and wait for motion complete ... // start here next move
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