!RPO Set event when the relative load position is equal or over a 32-bit long value or the value of a long variable |
Syntax
value32: 32-bit long immediate value Binary code
Remark: The origin for the relative position measurement (TML variable POS0) is set function of the target update mode. Under TUM1, POS0 = TPOS. Under TUM0, POS0=APOS_LD. After you have programmed an event, you can do the following actions:
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 //Stop motion when after moving 3 rev //Position feedback: 500 lines encoder (2000 counts/rev) !RPO 6000; //Set event: when load relative position is >= 3 rev STOP!;//Stop the motion when the event occurs WAIT!;//Wait until the event occurs |