MODE SE        Set speed external mode

Syntax                        

MODE SE

MODE Speed External

Operands

PlaceTMLOnline

Binary code

DescriptionSets 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