!TRO Set event when the torque reference is equal or over 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 will reach a hard stop. Disable control when torque // reference > 1 A = 1984 internal current units !TRO 1984.0; // set event when torque reference > 1 A WAIT!;//Wait until the event occurs AXISOFF; // disable control |