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Data Field
Description
Field 1: <i>
Set #: There are 4 possible OUTTW sets (1-4). This field identifies which set to use.
Field 2: <i-i>
Strobe Output #s: Data reads with the TW command are strobed by the outputs selected
in this field. The first number is the first output, and the second number is the last output.
The outputs must be consecutive. The number of outputs should be compatible to the
thumbwheel device. Refer to page
to place in this field.
Field 3: <i>
Thumbwheel Enable Output: This field identifies an output that becomes active on a TW
command and then turns off on completion of the TW command. This output can enable a
thumbwheel module to respond, thus allowing multiple thumbwheels to be wired to the
inputs and outputs. A zero in this field will not activate any output.
Field 4: <i>
Strobe Time: This field identifies the length of time an output will stay active to read the
BCD digits. The strobe time (in milliseconds) should be set to a minimal debounce time.
Range = 1-5000 milliseconds.
Example:
INSTW2,1-4,5
; Set INSTW set 2 as BCD digits on onboard inputs 1-4, with
; input 5 as the sign bit
OUTTW2,1-3,4,50
; Set OUTTW set 2 as output strobes on onboard outputs 1-3,
; with onboard output 4 as the output enable bit, and
; strobe time of 50 milliseconds
A(TW2)
; Read data into acceleration using INSTW set 2 and
; OUTTW set 2 as the data configuration
[ PC ]
Position Commanded
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
ERES, [ FB ], GOWHEN, [ PCC ], [ PE ], [ PER ], PSET, SCALE,
SCLD, SMPER, TAS, TFB, TPC, TPCC, TPE, TPER
Use the
operator to assign the current commanded position (scalable by
PC
a comparison against another value. If you issue a
offset by the
command value.
PSET
Servo Axes:
The
value is measured in encoder or resolver counts. The commanded position (
PC
the actual position (
=
) and thereby determine the corrective control signal.
FB
PER
Stepper Axes: The
value is measured in commanded counts ("motor counts").
PC
UNITS OF MEASURE and SCALING: refer to page 16.
Syntax:
where "
VARn=PC
n
IF(PC>5Ø).
Example:
VAR1=PC
; Commanded position is assigned to variable 1
IF(PC<50)
; If the commanded position is <50, do the IF statement
VAR2=PC+500
; Commanded position plus 500 is assigned to variable 2
NIF
; End IF statement
8
for help in identifying which output bits are available
command, the commanded position value will be
PSET
) are used in the control algorithm to calculate the position error (
FB
" is the variable number; or
PC
www.comoso.com
) to a variable, or to make
SCLD
can be used in an expression such as
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
6.0
) and
PC
-
PC
223
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