!TRU                Set event when the torque reference is equal or under a 32-bit value or the value of a fixed variable

Syntax                        

!TRU value32

! if TorqueReferenceUnder value32

!TRU VAR32

! if TorqueReferenceUnder VAR32

 

OperandsVAR32: fixed variable

value32: 32-bit fixed immediate value

PlaceTMLOnline

Binary code

DescriptionSets the event condition when the current/torque reference is equal or under the specified value or the value of the specified variable. After you have programmed an event, you can do the following actions:
•Change the motion mode and/or the parameters when the event occurs, with command UPD!
•Stop the motion when the event occurs, with command STOP!
•Wait for the programmed event to occur, with command WAIT!

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.

 

ExecutionActivates the monitoring of the event, when current/torque reference <= value32, respectively VAR32. This operation erases a previous programmed event that has occurred.

 

Example

// Disable control when torque reference > 1 A = 1984 IU

!TRO 1984.0; // set event when torque reference > 1 A

WAIT!;//Wait until the event occurs

AXISOFF; // disable control