MODE TES Set torque external mode with reference update in slow loop MODE TEF Set torque external mode with reference update in fast loop |
Syntax
Binary code
When the current reference is read from the analogue input, the reference update can be done in 2 ways:
When the current reference is received online via a communication channel only option MODE TES is possible.
The new motion mode becomes effective at the next update command UPD.
Example //Set torque mode with reference read from an analogue input EXTREF 1; // external type: analogue input MODE TEF; //External torque, update in fast loop UPD; //execute immediate |