Syntax
MODE SE |
MODE Speed External |
| Operands | – |
Binary code
| Description | Sets the drive/motor to operate in the speed external mode. In this mode, the drive/motor performs a speed control with the speed 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 EREFS |
You can limit the maximum acceleration at sudden changes of the speed reference and thus to reduce the mechanical shocks. This feature is activated by setting UPGRADE.2=1 and the maximum acceleration value in CSPD.
The new motion mode becomes effective at the next update command UPD.
Example
// External mode online. Read speed reference from variable EREFS
// Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
EREFS = 33.3333;// EREFS initial = 1000[rpm]
EXTREF 0;
MODE SE; //External speed
CACC = 0.3183;// Limit = 1000[rad/s^2]
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
UPD; //execute immediate