MODE PT        Set PT mode

Syntax                        

MODE PT

MODE Position Time
Operands–

PlaceTMLOnline

Binary code

ModePT

DescriptionSets the drive/motor to operate in the PVT mode. In this mode, the drive/motor performs a position control. The built-in reference generator computes a positioning path using a series of points. Each point specifies the desired Position, and Time, i.e. contains a PT data. Between the PT points the reference generator performs a linear interpolation.

 

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

 

Example

// PT sequence. Position feedback: 500 lines incremental

// encoder (2000 counts/rev)

SETPVT 0xC000;        //Clear PT buffer, disable counter check

//Don’t change counter & buffer low condition        

MODE PT; // Set PT Mode

TUM1;//Start from actual value of position reference

CPR;

PTP 2000L, 100U, 0; //PT(1[rot], 0.1[s])

UPD; //Execute immediate

PTP 0L, 100U, 0; //PT(1[rot],0.2[s])

PTP -2000L, 100U, 0; //PT(0[rot],0.3[s])

!MC; WAIT!; //wait for completion