User`s manual

DSM to PLC Interface
GFK-1742A Chapter 5 Motion Mate DSM314 to PLC Interface 5-9
5
ON state (thus holding the
Strobe 1, 2 Flag
%I bit in the cleared state), then each Strobe Input
that occurs will cause the axis position to be captured in
Strobe 1, 2 Position
.
The
Strobe 1, 2 Position
actual position values are also placed in data parameter registers for use
with motion programs commands. The data parameter register assignments are as follows:
Servo Axis 1 Servo Axis 2 Servo Axis 3 Servo Axis 4
Strobe 1 Position
P224 P232 P240 P248
Strobe 2 Position P225 P233 P241 P249
This feature allows the strobe input to trigger a Conditional JUMP in a program block using the
Strobe 1 Position
or
Strobe 2 Position
as the destination of a CMOVE or PMOVE command.
See Chapter 1, "Product Overview, DSM314 Position Strobes," for information on strobe latency
and processing times.
2.07
Position Error
.
Position Error
(user units) is the difference between
Commanded Position
and
Actual Position
. In the servo control loop,
Position Error
is multiplied by a gain constant to
provide the servo velocity command.
2.08
Commanded Velocity
.
Commanded Velocity
(user units/sec) is a value generated by the
DSM314 axis command generator.
Commanded Velocity
indicates the instantaneous velocity
command that is producing axis motion. At the beginning of a move it will increase at the
acceleration rate, and once the programmed velocity has been reached, it will stabilize at the
programmed velocity value.
In Follower mode,
Commanded Velocity
only represents the output of the axis command
generator. The Follower Master Axis input or the Follower Acceleration Ramp controller does
not affect
Commanded Velocity
.
2.09
Actual Velocity
.
Actual Velocity
(user units/sec) represents the axis velocity derived from the
Feedback device and is updated by the DSM314 once every 128 milliseconds.
2.10
User Selected Data 1
.
There is one of these words for each of the four axes. The
information reported in
User Selected Data 1
is determined by module configuration (see Chapter
4) or the
Select Return Data 1
%AQ command (see Section 4, “%AQ Immediate Commands,” in
this chapter).
2.11
User Selected Data 2
.
There is one of these words for each of the four axes. The
information reported in
User Selected Data 2
is determined by module configuration (see Chapter
4) or the
Select Return Data 2
%AQ command (see Section 4, “%AQ Immediate Commands,” in
this chapter). Refer to Section 4 “%AQ Immediate Commands” for additional information.