Syntax
!MC |
!(set event) if MotionComplete |
| Operands | – |
Binary code
| Description | Sets the event condition when the actual motion is completed. The motion complete is set in the following conditions: |
| • | During position control: |
| ▪ | If UPGRADE.11=1, when the position reference arrives at the position to reach (commanded position) and the position error remains inside a settle band defined by POSOKLIM, for a preset stabilize time interval defined by TONPOSOK |
| ▪ | If UPGRADE.11=0, when the position reference arrives at the position to reach (commanded position) |
| • | During speed control, when the speed reference arrives at the commanded speed |
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.
| Execution | Activates monitoring of the event when the actual motion is completed. This operation erases a previous programmed event that has occurred. |
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