Trio Motion Coordinator Euro 205, Technical Reference Manual

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8-160 Trio BASIC Commands
Axis Parameters
Trio Motion Technology
High values may lead to oscillation. For a derivative term Kd and a change in follow-
ing error Ðe the contribution to the output signal is:
Od=Kd x Ðe
Example:
D_GAIN=0.25
Note: Servo gains have no effect in stepper motor axes.
ENCODER
Type: Axis Parameter (Read Only)
Description: The
ENCODER
axis parameter holds a raw copy of the encoder or resolver hardware
register. On Servo daughter boards, for example, this is a 12 bit (Modulo 4096)
number. On SSI absolute daughter boards the
ENCODER
register holds a value of the
numbers of bits programmed with
SSI_BITS
. The
MPOS
axis measured position is
calculated from the
ENCODER
value automatically allowing for overflows and off-
sets. On MC202 and the built-in axes of a Euro205 or MC206 the
ENCODER
register is
a 14 bit register.
ENDMOVE
Type: Axis Parameter
Description:
This parameter holds the position of the end of the current move in user units. It is
normally only read back although may be written to if required provided that
SERVO=ON
and no move is in progress. This will produce a step change in
DPOS
.
Making step changes in
DPOS
can easily lead to “Following error exceeds limit”
errors unless the steps are small or the
FE_LIMIT
is high.
ERRORMASK
Type: Axis Parameter
Description: The value held in this parameter is bitwise
AND
ed with the
AXISSTATUS
parameter
by every axis on every servo cycle to determine if a runtime error should switch off
the enable (
WDOG
) relay. If the result of the
AND
operation is not zero the enable
relay is switched OFF.