!RPU Set event when the load relative position is equal or under a 32-bit 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 //Move negative and change speed command after 10 rev //Position feedback: 500 lines encoder (2000 counts/rev) !RPU 20000;//Set event: when load relative position is <= 10 rev CSPD = 13.3333;//new slew speed command = 500[rpm] UPD!; //execute on event WAIT!;//Wait until the event occurs |