UPD!                Update the motion mode and parameters on event

Syntax                        

Binary code

Description        Executes an UPD command when a programmed event occurs.

Example

// Start a speed profile and change speed after 3 seconds.

// Position feedback: 500 lines encoder (2000 counts/rev)

CACC = 0.1591;//acceleration rate = 500[rad/s^2]

CSPD = 40;//jog speed = 1200[rpm]

MODE SP;

TUM1;//set Target Update Mode 1

UPD;//execute immediate

!RT 3000; // set event after a wait time of 3s

CSPD = 20;//jog speed = 600[rpm]

UPD!;//Update on event

WAIT!; //Wait until the event occurs