Omron TJ2-MC64 - PROGRAMMING Programming Manual page 191

BASIC commands
3.2.258 S_REF
/i
Type Axis parameter
Syntax DAC
S_REF
Description This parameter contains the speed reference value which is applied directly
to the Servo Drive when the axis is in open loop (SERVO=OFF). The range of
this parameter is defined by the number of available bits. For MECHATRO-
LINK-II axes, S_REF takes 32 bits, so the available range is [-2147483648,
2147483648], which corresponds to a range [-servomotor overspeed, servo-
motor overspeed]. For Flexible axis axes, S_REF takes 16 bits, so the availa-
ble range is [-32768, 32767], which corresponds to a voltage range [-10V,
10V]. These ranges can be limited by using the OUTLIMIT parameter.
The value currently being applied to the Drive can be read using the
S_REF_OUT axis parameter.
Arguments N/A
Example WDOG = ON
SERVO = OFF
square:
S_REF AXIS(0) = 2000
WA(250)
S_REF AXIS(0) = -2000
WA(250)
GOTO square
These lines can be used to force a square wave of positive and negative
movement with a period of approximately 500ms on axis 0.
See also AXIS, S_REF_OUT, OUTLIMIT, SERVO.
3.2.259 S_REF_OUT
/i
Type Axis parameter (read-only)
Syntax DAC_OUT
S_REF_OUT
PROGRAMMING MANUAL
Description The S_REF_OUT parameter contains the speed reference value being
applied to the Servo Drive 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 com-
mands. In open loop (SERVO=OFF), the speed reference signal is deter-
mined 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.
3.2.260 SCOPE
/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 parameters
are stored in the TABLE array and can then be read back to a computer and
displayed on the Trajexia Studio Oscilloscope 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 Oscilloscope
function.
2.Applications like the CAM command, CAMBOX command and the SCOPE
command all use the same TABLE as the data area.
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