Syntax
MODE PP |
MODE Position Profile |
| Operands | – |
Binary code
| Description | Sets the drive/motor to operate in the trapezoidal position profile mode. In this mode, the drive/motor performs a position control. The built-in reference generator computes a position profile with a trapezoidal shape of the speed, due to a limited acceleration. You specify either a position to reach in absolute mode or a position increment in relative mode, plus the slew (maximum travel) speed and the acceleration/deceleration rate. |
The new motion mode becomes effective at the next update command UPD.
Example
// Position profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.3183; //acceleration rate = 1000[rad/s^2]
CSPD = 33.3333; //slew speed = 1000[rpm]
CPOS = 6000; //position command = 3[rot]
CPR; //position command is relative
SRB ACR 0xFFFF, 0x800; // and additive
MODE PP; // set trapezoidal position profile mode
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; //wait for completion