STA                Set target position to actual position

Syntax                        

STA

Set Target position = Actual position

Operands

PlaceTMLOnline

Binary code

DescriptionSets 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)