Difference between revisions of "Program Examples:Create Motion:Velocity Mode"
(Created page with "The following example demonstrates how to jog an axis in Velocity Mode, using a JOG Command.<br/> Please notice the invocation of the subroutine [[EtherCAT:EC...") |
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* [[MC-Basic:JOG|JOG Command]] | * [[MC-Basic:JOG|JOG Command]] | ||
* [[EtherCAT:EC_SET_MOTION_OPMODE|EC_SET_MOTION_OPMODE]] | * [[EtherCAT:EC_SET_MOTION_OPMODE|EC_SET_MOTION_OPMODE]] | ||
| + | * [[Program Examples:Create Motion:Position Mode|Position Mode - motion example]] | ||
| + | * [[Program Examples:Create Motion:Torque Mode|Torque Mode - motion example]] | ||
Revision as of 15:27, 6 November 2014
The following example demonstrates how to jog an axis in Velocity Mode, using a JOG Command.
Please notice the invocation of the subroutine EC_SET_MOTION_OPMODE that sets the axis and the drive to
'Velocity Mode'.
Refer to Axis Setup Procedure for an explanation and an example of how to set up an axis.
program
attach a4
attach a5
call EC_SET_MOTION_OPMODE(a4, VELOCITYMODE)
call EC_SET_MOTION_OPMODE(a5, VELOCITYMODE)
a4.en=1
a5.en=1
sleep 1000
while 1
JOG a4 50 starttype=immediate
JOG a5 -50 starttype=immediate
sleep 3000
JOG a4 -50 starttype=immediate
JOG a5 50 starttype=immediate
sleep 3000
end while
detach a4
detach a5
end program
The example corresponds to commit SHA-1: ba574128b365aebcd34f706e4c3a2c90762f7636 in GIT.