SPEED
TORQUE
# SPEED & TORQUE
#
# start_target - The target at the start of the mode.
#
# end_target - The target at the end of the mode is optional.
# The end_target is only specified if it is
# different that the start_target.
#
# ramp_rate - The ramp rate (units/sec)
#
# Note on ramping: If the open loop start and end targets are different
# the target will be ramped linearly based on the mode
# timeout value.
#
# Note on field specification:
# The target fields may be expressed as either a
# constant, variable label, or a computed expression.
# If the target is a constant, the units keyword must
# be appended as shown in the examples below.
#--------------------------------------------------------------------------
@SPEED
#start_speed [end_speed] [ramp_rate(units/sec)]
1200[rpm]
@SPEED
# ramp from 1200 rpm to 1400 rpm over the mode interval
#start_speed [end_speed] [ramp_rate(units/sec)]
1200[rpm] 1400[rpm]
#--------------------------------------------------------------------------
@TORQUE
# start_torque [end_torque] [ramp_rate(units/sec)]
1000[lb_ft]
@TORQUE
# ramp to 1000 lb_ft at 100 lb_ft/second
# start_torque [end_torque] [ramp_rate(units/sec)]
1000[lb_ft] 1000[lb_ft] 100[lb_ft]