Omron SYSMAC CJ Operation Manual page 103

All BASIC commands
4-2-22 ADDAX
/i
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
/i
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.
Section 4-2
91