Command
<axis> PFP
Description
Profile Phase indicates if the trapezoidal motion profile is in the Accel phase (value 1), the Slew phase (value 2) the Decel phase (value 3), or no longer moving (value 0). This is used to identify transition points in the profile and perform operations at those transitions. Note that the Profile Phase function can indicate if the motor is moving or not without a delay. The Move Is Finished command includes a built in yield which delays the answer by a controller sample period. The Profile Phase command can answer the same question immediately by comparing Profile Phase to 0.
Escapes
Profile Phase does not generate any escapes.
Examples
This list of commands produces a move with long accel and decel times allowing the profile phase to be inspected in all three phases:
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