MODE PE        Set position external mode

Syntax                        

MODE PE

MODE Position External

 

Operands

PlaceTMLOnline

Binary code

DescriptionSets the drive/motor to operate in the position external mode. In this mode, the drive/motor performs a position control with the position reference provided by another device. There are 2 types of external references (selectable via the TML instruction EXTREF):
Analogue – read from a dedicated analogue input (TML variable AD5)
Online – received online via a communication channel from a host and saved in the TML variable EREFP

You can limit the maximum speed at sudden changes of the position reference and thus to reduce the mechanical shocks. This feature is activated by setting UPGRADE.2=1 and the maximum speed value in CSPD.

 

The new motion mode becomes effective at the next update command UPD.

 

Example        

//Read position command from the analogue reference input

EXTREF 1;

MODE PE; //External position

CSPD = 100;// Limit = 3000[rpm]

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

UPD; //execute immediate