Trio Motion Coordinator Euro 205, Technical Reference Manual

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Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-171
Axis Parameters
OPEN_WIN
Type:
Axis Parameter
Alternate Format:
OW
Description: This parameter defines the position before which registration marks will be ignored
if windowing is specified by the
REGIST()
command.
OUTLIMIT
Type:
Axis Parameter
Description: The output limit restricts the voltage output from a servo axis to a lower value than
the maximum. The value required varies depending on whether the axis has a 12 bit
or 16 bit DAC. If the voltage output is generated by a 12 bit DAC values an OUT-
LIMIT of 2047 will produce the full +/-10v range. If the voltage output is generated
by a 16 bit DAC values an OUTLIMIT of 32767 will produce the full +/-10v range.
Only the MC206 internal axes have 16 bit DAC’s
Example:
OUTLIMIT AXIS(0)=1023
The above will limit the voltage output to a ±5V output range on a servo daughter
board axis. This will apply to the
DAC
command if
SERVO=OFF
or to the voltage out-
put by the servo if
SERVO=ON
.
OV_GAIN
Type:
Axis Parameter
Description: The output velocity gain is a gain constant which is multiplied by the change in
measured position. The result is summed with all the other gain terms and applied
to the servo DAC. Default value is 0. Adding NEGATIVE output velocity gain to a sys-
tem is mechanically equivalent to adding damping. It is likely to produce a
smoother response and allow the use of a higher proportional gain than could other-
wise be used, but at the expense of higher following errors. High values may lead to
oscillation and produce high following errors. For an output velocity term Kov and
change in position
∆
Pm, the contribution to the output signal is:
Oov=Kov x
∆
Pm