SMAC
LAC-25 Technical Reference Manual
24
Command:
aOOn -- Output Offset --
Argument:
-32767 <= n <= 32767
Default:
0
This command allows the user to set a continuous output for servo axis ÔaÕ. In certain
applications, such as an overhanging load, there will be a continuous burden placed upon a servo
axis. In cases like these, where there is a predictable load, the OO command can be used to
provide a continuous restoring force that will be combined with the output of the PID digital filter.
This has the affect of improving the performance of the PID digital filter in that because it is not
saturated with static load, it has a better dynamic response to load disturbances.
Related Commands: FA, FV, OM
Command:
aPHn
-- Set Servo Phasing --
Argument:
0 <= n <= 63
Default:
0
This command is used to set the output polarity, encoder phasing, Index input sense, Home
input sense, Limit+ and Limit- input sense for servo axis ÔaÕ. The polarity of the output will determine
whether the servo is driven in a direction that reduces or increases position error. The encoder
phase will determine whether the position count will increase or decrease for a valid encoder input
sequence. The Index sense determines what logic edge will cause the Index input to be active.
The Limit+, Limit- and Home sense determines whether these signals are active ÒonÓ or active Òoff.
To determine the argument to be used with the PH command, use the follow table and add
the required values together.
Add to 'n'
Output Phase Normal
0
Output Phase Reversed
1
Encoder Phase Normal
0
Encoder Phase Reversed
2
Index Active Level Low
0
Index Active Level High
4
Home Sense Active "ON"
0
Home Sense Active "OFF"
8
Limit+ Sense Active "ON"
0
Limit+
Sense
Active
"OFF"
16
Limit- Sense Active "ON"
0
Limit- Sense Active "OFF"
32
For example, if it were necessary to reverse the encoder phasing and to set the Limit+ and
Limit- inputs to active "OFF", then 'n' would be (2 + 16 + 32) or 50. The default phasing and sense
is equivalent to issuing this command with a argument of 0.
