Omron trajexia CJ1W-MCH72 Operation Manual page 255

All BASIC commands
4-2-217 S_REF_OUT
4-2-218 SCOPE
244
See also AXIS, S_REF_OUT, OUTLIMIT, SERVO.
/i
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.
/i
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.To minimize calculation time for writing the real-time data, 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.
3.Applications like the CAM command, CAMBOX command and the
SCOPE command all use the same TABLE as the data area.
Section 4-2