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]