!MSU Set event when motor speed is equal or under a 32-bit value or the value of a fixed variable |
Syntax
value32: 32-bit fixed immediate value Binary code
The programmed event is automatically erased when the event occurs or if the timeout for the WAIT! command expires. Remark: After setting UPD! or STOP! you need to wait until the programmed event occurs using WAIT!, otherwise, the program will continue with the next instructions that may override the event monitoring.
Example //Motor is decelerating. Start a position profile when motor //speed < 600 rpm //Position feedback: 500 lines encoder (2000 counts/rev) !MSU 20; //Set event: when motor speed is < 600 rpm // prepare new motion mode CACC = 0.3183;//acceleration rate = 1000[rad/s^2] CSPD = 100;//slew speed = 3000[rpm] CPOS = 20000;//position command = 10[rot] CPR; //position command is relative MODE PP; TUM1; //set Target Update Mode 1 UPD!; //execute on event WAIT!;//Wait until the event occurs
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