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Command, function and parameter description
Section 6-3
loop outputs are summed to the speed reference output of the servo axis
(axis 0). Use ADD_DAC(-1) to cancel the link.
ADD_DAC works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Note
1.
Be aware that the control loop gains for both axes need to be determined
with care. As different encoders with different resolutions are used, the
gains are not identical.
2.
To create a servo loop on axis 1, set the ATYPE parameter of that axis to
servo (value 2).
3.
Set the OUTLIMIT parameter of axis 1 to the same value as the value for
axis 0, which is 15000. Otherwise the output reference axis 1 will be limit-
ed.
Arguments:
axis
The axis from which to sum the speed reference output to the base axis. Set
the argument to –1 to cancel the link and return to normal operation.
See also:
AXIS, ADDAX, OUTLIMIT
Examples:
Example 1
The following example shows controlling the Servo Driver axis 0 with dual
feedback control using both axis 0 and axis 1.
BASE(0)
OUTLIMIT AXIS(1) = 15000
ADD_DAC(1) AXIS(0)
ADDAX(0) AXIS(1)
WDOG = ON
SERVO AXIS(0) = ON
SERVO AXIS(1) = ON
‘ Execute moves on axis 0
Example 2
The following example shows controlling the Servo Driver axis 0 with using
only encoder feedback on axis 1.
BASE(0)
OUTLIMIT AXIS(1) = 15000
ADD_DAC(1) AXIS(0)
WDOG = ON
SERVO = OFF
S_REF = 0
BASE(1)
SERVO = ON
‘ Execute moves on axis 1
6-3-19
ADDAX_AXIS
Type:
Axis parameter
Description:
The ADDAX_AXIS axis parameter returns the number of the axis to which the
base axis is currently linked to by ADDAX.
Note This parameter is read-only.
See also:
AXIS, ADDAX
Example:
>> BASE(0)
>> ADDAX(2)