Specifications

BASIC commands
PROGRAMMING MANUAL 162
Revision 5.0
3.2.236 S_REF
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3.2.237 S_REF_OUT
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3.2.238 SCOPE
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Type Axis parameter
Syntax DAC
S_REF
Description This parameter contains the speed reference value which is applied directly
to the Servo Driver 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 voltage range [-10V, 10V]. For Flexible
axis axes, S_REF takes 16 bits, so the available range is [-32768, 32767],
which corresponds to a voltage range [-10V, 10V]. These ranges can be lim-
ited by using the OUTLIMIT parameter.
The value currently being applied to the driver 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.
Type Axis parameter (read-only)
Syntax DAC_OUT
S_REF_OUT
Description The S_REF_OUT parameter contains the speed reference value being
applied to the Servo Driver 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.
Type System command
Syntax SCOPE(control, period, table_start, table_stop, P0 [ , P1 [ , P2 [ , P3 ]]])