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All BASIC commands
Section 4-2
243
4-2-213 S_REF_OUT
/i
4-2-214 SCOPE
/i
See also
AXIS
,
S_REF_OUT
,
OUTLIMIT
,
SERVO
.
Type
Axis parameter (read-only)
Syntax
S_REF_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 servo motor is determined using the
Axis commands. In open loop (
SERVO=OFF
), the speed reference sig-
nal is determined by the
S_REF
axis parameter.
Arguments
N/A
Example
>> PRINT S_REF_OUT AXIS(0)
288.0000
See also
AXIS
,
S_REF
,
OUTLIMIT
,
SERVO
.
Type
System command
Syntax
SCOPE(control, period, table_start, table_stop, P0 [ , P1 [ , P2 [ , P3
]]])
Description
The
SCOPE
command programs the system to automatically store up
to 4 parameters every sample period. The storing of data will start as
soon as the
TRIGGER
command has been executed.
The sample period can be any multiple of the servo period. The param-
eters are stored in the TABLE array and can then be read back to a
computer and displayed on the Trajexia Studio data trace or written to a
file for further analysis using the
Create Table file
option on the
File
menu.
The current TABLE position for the first parameter which is written by
SCOPE
can be read from the
SCOPE_POS
parameter.
Notes:
1.Trajexia Studio uses the
SCOPE
command when running the Oscillo-
scope function.
2.In firmware versions before 1.6665 the
SCOPE
command is writing
raw data to the TABLE array. For example
a)The parameters are written in encoder edges (per second) and there-
fore not compensated for the
UNITS
conversion factor.
b)The
MSPEED
parameter is written as the change in encoder edges
per servo period.
From firmware version 1.6665 the
SCOPE
command uses the
UNITS
conversion factor when storing the parameters.
3.Applications like the
CAM
command,
CAMBOX
command and the
SCOPE
command all use the same TABLE as the data area.
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