BASIC commands
PROGRAMMING MANUAL
31
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3.2.21 ADD_DAC
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fig. 1
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Type
Axis command
Syntax
ADD_DAC(axis)
+
_
SERVO = OFF
SERVO = ON
Final speed reference in AXIS(n) =
DAC_OUT AXIS(m) + DAC_OUT AXIS(n)
ADD_DAC(n) AXIS(m):
+
+
AXIS m
Position loop
Demanded
position
Measured
position
Following
error
Speed
command
+
_
SERVO = OFF
SERVO = ON
AXIS n
Position loop
Demanded
position
Measured
position
Following
error
Speed
command
DAC
DAC
Description
The
ADD_DAC
command adds the
DAC_OUT
value of
axis
to the
DAC_OUT
value of the base axis. Use
ADD_DAC(-1)
to cancel the sum.
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.
Set the
OUTLIMIT
parameter to the same value for both linked axes.
3.
This command has no meaning for a MECHATROLINK-II axis in position
mode (
ATYPE=40
), because the value of
DAC_OUT
is ignored.
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.
Example
No example.
See also
AXIS
,
DAC_OUT
,
OUTLIMIT