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All BASIC commands
Section 4-2
91
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4-2-22 ADDAX
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Description
The
ADD_DAC
command adds the
S_REF_OUT
value of
axis
to the
S_REF_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 deter-
mined 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
S_REF_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
,
S_REF_OUT
,
OUTLIMIT
Type
Axis command
Syntax
ADDAX(axis)
Description
The
ADDAX
command is used to superimpose two or more movements
to build up a more complex movement profile.
The
ADDAX
command takes the demand position changes from the
superimposed axis as specified by the axis argument and adds them to
any movement running on the axis to which the command is issued.
The axis specified by the parameter can be any axis and does not have
to physically exist in the system.
The
ADDAX
command therefore allows an axis to perform the moves
specified on two axes added together. When the axis parameter is set to
OFF on an axis with an encoder interface the measured position
MPOS
is copied into the demanded position
DPOS
. This allows
ADDAX
to be
used to sum encoder inputs.
After the
ADDAX
command has been issued the link between the two
axes remains until broken. Use
ADDAX(-1)
to cancel the axis link.
ADDAX
allows an axis to perform the moves specified for 2 axes added
together. Combinations of more than two axes can be made by applying
ADDAX
to the superimposed axis as well.
ADDAX
works on the default basis axis (set with
BASE
) unless
AXIS
is
used to specify a temporary base axis.
Note: The
ADDAX
command sums the movements in encoder edge
units.
Arguments
•
axis
The axis to be set as a superimposed axis. Set the argument to -1 to
cancel the link and return to normal operation.
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