OpMode ST_Positioning

General

There are three commands to start a positioning. The parameters are only read when the internal start flag is going from FALSE -> TRUE. You can also use the stMain. i_xStart. . The behavior using i_xStart will be as FB_VarioPosJerk in the help file.

StartTrigWaitInPos

The input iq_diCmd shows the positioning command until the positioning is done and the output q_xInPosition is TRUE. This will simplify the handling of commands in the command table. The table will not continue until the positioning is done.

Start

 As soon as the positioning is started, the command input iq_diCmd is set back to 0. Before sending a new start command, send the hold command. Next, send the command hold before sending a new start.

StartTrig

As soon as the positioning is started, the command input iq_diCmd is set back to 0. Before sending a new start command, send the hold command. To set new parameters (target or velocity) without stopping, prepare new parameters and send the command StartTrig again.