Syntax
STA |
Set Target position = Actual position |
| Operands | – |
Binary code
| Description | Sets the value of the target position (the position reference) to the value of the actual load position i.e. TPOS = APOS_LD. The command may be used in closed loop systems when the load/motor is still following a hard stop, to reposition the target position to the actual load position. |
Remark: The STA command is automatically done if the next motion mode is set without TUM1 (i.e. using the default target update mode TUM0). In this case the target position and speed are both updated with the actual values of the load position and respectively load speed: TPOS = APOS_LD and TSPD = ASPD_LD.
Example
MODE PC; //Set Position Contouring Mode 2
TUM1; //Set target update mode 1
| SEG 100U, 5.00000; | //Set 1st motion segment. Increment |
//position reference with 5 counts for
//the next 100 sampling periods
UPD; //Update immediate
SEG 100U, 5.00000; //Set 2st motion segment.
SEG 100U, -20.00000; //Set 3st motion segment.
SEG 100U, 10.00000; //Set 4st motion segment.
SEG 0, 0.; //End of contouring mode
| STA; | //Set target position value (TPOS) equal to //the actual position value (APOS_LD) |