Syntax
MODE PE |
MODE Position External |
| Operands | – |
Binary code
| Description | Sets 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