Accel; Acos; Add_Dac - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
Example:

6-3-16 ACCEL

Type:
Description:
See also:
Example:

6-3-17 ACOS

Type:
Syntax:
Description:
Arguments:
Example:

6-3-18 ADD_DAC

Type:
Description:
IF ABS(VR(0)) > 100 THEN PRINT "VR(0) Outside
Axis parameter
The ACCEL axis parameter contains the axis acceleration rate. The rate is set
2
in units/s . The parameter can have any positive value including zero.
AXIS, DECEL, UNITS
BASE(0)
ACCEL = 100
PRINT "Acceleration rate: ";ACCEL;" mm/s/s"
ACCEL AXIS(2) = 100 'Sets acceleration rate for axis (2)
Mathematical Function
ACOS( expression )
The ACOS function returns the arc-cosine of the expression. The expression
value must be between –1 and 1. The result in radians will be between 0 and
PI. Input values outside the range will return zero.
expression
Any valid BASIC expression.
>> PRINT ACOS(-1)
3.1416
Motion Control Command
The ADD_DAC command can provide dual feedback control by allowing a
secondary encoder (axis 1) to be used on the servo axis (axis 0). The com-
mand allows the output of 2 servo loops to be summed to determine the
speed reference to the servo driver.
This command is typically used in applications such as a roll-feed where a
secondary encoder would be required to compensate for slippage.
For using ADD_DAC it is necessary for the two axes with physical feedback to
link to a common axis on which the required moves are executed. Typically
this would be achieved by running the moves on one of the two axes and
using ADDAX or CONNECT to produce a matching demand position (DPOS)
for both axes. The servo loop gains need to be set for both axes. The servo
'Set acceleration rate
M E
Axis 0
Section 6-3
100"
E
Axis 1
115