MODE SE Set speed external mode |
Syntax
Binary code
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 |