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TMS320F28069M: SpinTac Position Move, stop current move, generate new profile

Daniel Rush
Intellectual 585 points
Part Number: TMS320F28069M


So, I'm currently working with the Position move block, I am trying to make the behavior correct for a specific scenario: I command a move from absolute position A to position B, I calculate the relative distance and feed in a relative move, while that move is being run(POSMOVE is in BUSY state) I want to go to position C, I would like to generate a path from where the motor is now, to that 3rd position. How would I stop the current move, set a new starting velocity that is non-zero, and start the plan to move to position C?

  • 0
    TI__Guru** 115540 points
    You might configure SpinTAC position plan as your requirement if the position is a fixed one. Or re-configure the position plan by calling the ST_setupPosPlan() and re-start the motor.
  • 0 in reply to Yanming Luo
    Intellectual 585 points

    What do you mean by position being fixed? I am receiving commands over the SCI and interpreting those into move commands so the positions can be any position desired by the user. Does the method you advised work for this? I also don't want to have to stop the motor, I would like to change the cfg.vel_start to reflect the current velocity to plan the next part of the move, is that possible?

  • 0 in reply to Daniel Rush
    TI__Guru** 115540 points
    Yes, it's possible to implement this. You might just use position control to move from position A to B or C. Or you need to re-set the position plan during the motor is not running if you want to use the motion control with SpinTAC position profile, so you have to stop current move to do this.