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                        

MODE TEF

MODE Torque External Fast

MODE TES

MODE Torque External Slow
Operands–

PlaceTMLOnline

Binary code

ModeTEF

DescriptionSets the drive/motor to operate in the torque external mode. In this mode, the drive/motor performs a torque control with a current 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 EREFT

When the current reference is read from the analogue input, the reference update can be done in 2 ways:

•MODE TES – at each slow loop sampling period
•MODE TEF – at each fast loop sampling period

 

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