Table of Contents - TG Drives

PL2 MNEMONICS
Standard set Mnemonics
Pos ABS Lval
statement.
Equivalent to:
[LET] Pg.Mode = 0
Position absolute to Lval.
Equivalent to:
[LET] Pg.Mode = 0
[LET] Pg.DPos = Lval
IF Pg.PosSpeed = 0 THEN LBL1
[LET] Pg.Speed = Pg.PosSpeed
LBL1: [LET] Pg.Mode = 1
Pos INC Lval Incremental positioning Lval from the last
positioning statement.
Equivalent to:
[LET] Pg.Mode = 0
ADD Pg.DPos, Lval
IF Pg.POS Speed = 0 THEN LBL1
[LET] Pg.Speed = Pg.PosSpeed
LBL1: [LET] Pg.Mode = 1
Pos REL Lval Position Lval relative to the current position, of
the profile, not the motor.
Equivalent to:
[LET] Pg.Mode = 0
[LET] Pg.DPos = Pg.APos + Lval
IF Pg.PosSPeed = 0 THEN LBL1
[LET] Pg.Speed = Pg.PosSpeed
LBL1: [LET] Pg.Mode = 1
Pos MOD ON [CLR] Allow the set-position to be modified by the
cam/gearbox routines.
Pos MOD OFF[CLR] Disallow the set-position to be modified by the
cam / gearbox routines.If CLR is specified, the
internal position, Pg.APos, is changed so there is
no momentary change in position. If CLR is not
specified, the motor slews toward the new setposition
using a speed that is is determined by
the regulator settings.
PData LRval , SRval Specifies data for the PROFILE statement. The
LRval argument is the desired acceleration, and
SRval is the number of servo cycles this
acceleration will use. A value of Zero indicates
the end of the profile. The variable Pg.ProScale
can be used to scale the acceleration.
A value of 1024 means no scaling is being done,
and the LRval corresponds to increments/sec 2 .
Profile ACC RLine Argument RLine specifies the line number of the
first PDATA to use. See PDATA.
RefPos POS Lval Sets the reference position to Lval. This sets the
current position reference relative to RD1.Pos so
that the positioning statements, POS ABS etc.,
refer to this reference position.
The RD1.RPos returns the “referenced” position.
Pg.APos, Pg.DPos are also affected.
The REF POS statement is implemented with the
aid of a position offset from the resolver position.
The offset is Pg.PosOffs. To remove the effect of
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
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