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182
Command, function and parameter description
Section 6-3
See also:
AIN2, AXIS, S_REF, S_REF_OUT, OUTLIMIT
Example:
The following the statement will print the current speed reference in RPM
which is applied to the Servo Driver.
>> PRINT S_REF_OUT*S_RATE
6-3-168 S_REF
Type:
Axis Parameter
Alternative:
DAC
Description:
The S_REF parameter contains the speed reference value which is applied
directly to the Servo Driver when the axis is in open loop (SERVO=OFF). The
range of the S_REF parameter is defined by [-15000, 14999], but can be lim-
ited by using the OUTLIMIT parameter.
The actual speed reference is depending on the Servomotor. To determine
the speed reference in rounds per minute (RPM), multiply the S_REF param-
eter value with the S_RATE parameter value.
The value currently being applied to the drive can be read using the
S_REF_OUT axis parameter.
See also:
AXIS, S_RATE, S_REF_OUT, OUTLIMIT, SERVO
Example:
The following lines can be used to force a square wave of positive and nega-
tive movement with a period of approximately 500ms on axis 0.
WDOG = ON
SERVO = OFF
square:
S_REF AXIS(0) = 2000
WA(250)
S_REF AXIS(0) = -2000
WA(250)
GOTO square
6-3-169 S_REF_OUT
Type:
Axis Parameter
Alternative:
DAC_OUT
Description:
The S_REF_OUT parameter contains the speed reference value being
applied to the Servo Driver for both open and closed loop.
In closed loop (SERVO=ON), the motion control algorithm will output a speed
reference signal determined by the control gain settings and the following
error. The position of the Servomotor is determined using the motion control
commands. In open loop (SERVO=OFF), the speed reference signal is deter-
mined by the S_REF axis parameter.
The actual speed reference is depending on the Servomotor. To determine
the speed reference in rounds per minute (RPM), multiply the S_REF param-
eter value with the S_RATE parameter value.
Note This parameter is read-only.
See also:
AXIS, OUTLIMIT, S_REF, S_REF_OUT, SERVO
Example:
>> PRINT S_REF_OUT AXIS(0)
288.0000
6-3-170 SCOPE
Type:
Motion Perfect Command
Syntax:
SCOPE(
control
,
period
,
table_start
,
table_stop
,
P0
[ ,
P1
[ ,
P2
[ ,
P3
]]]
)