Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.5.7 CAM.SLAVEOFFSET
General Information
Type R/O
Description
CAM.SLAVEOFFSET indicates the offset (or difference)
between MOVE.POSCOMMAND and the position com-
mand that is calculated from the active cam table based
upon the present value of EXTENCODER.POSITION
and/or CAMVM.POSITION.
Units Feedback counts
Range N/A
Default
Value
0
Data Type Integer
Start Ver-
sion
M_01-06-00-000
Description
CAM.SLAVEOFFSET indicates the offset (or difference) between PL.CMD and the position
command that is calculated from the active cam table based upon the present value of
DRV.HANDWHEEL and/or CAMVM.POSITION. This offset is the result of incremental
(MOVE.GOREL) or velocity (MOVE.GOVEL) moves superimposed (by the user) on the cam
table. If there is no active cam (CAM.ACTIVE = 0), the value of this variable is undefined.
Kollmorgen™ | March 30, 2012 162

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English

Summary

About this User Guide

Program View

Toolbar Options Overview

Provides essential tools for programming AKD BASIC drives, including New, Open, Save, Compile, Download, and Debug.

Debugging and Code Management Tools

Features for debugging programs, including View, Format Document, Insert Code Snippet, Upload, and Lock.

AKD BASIC Language Overview

Program Structure and Scope

Explains program structure, local and global variables, and the concept of scope within AKD BASIC programs.

Data Types and Literal Constants

Defines pre-defined data types (INTEGER, FLOAT, STRING) and literal constants used in AKD BASIC programming.

Statements and Control Flow

Details essential statements like Alias, Call, Const, Dim, If...Then...Else, and For...Next for program logic.

Built-in Functions

Lists and describes various built-in functions for mathematical operations, string manipulation, and type conversion.

Quick Reference: Parameters, Functions, Operators

AKD Parameters and Commands

Reference table listing parameters and commands available in AKD BASIC from AKD Base Drive documentation.

AKD BASIC Parameters and Commands

Lists parameters, commands, functions, and operators unique to AKD BASIC programming.

AKD BASIC Functions Reference

Numeric Functions: ABS(), SIN(), SQR()

Describes common numeric functions for absolute value, sine, and square root calculations.

String Functions: ASC(), CHR$(), LEFT$()

Details string functions for character conversion, extraction, and manipulation.

AKD BASIC Parameters, Operators, Statements

MOVE Parameters: Motion Control

Configures motor motion parameters like acceleration, deceleration, speed, and target position for moves.

VL Parameters: Velocity Loop Control

Adjusts parameters for the velocity loop, including anti-resonance filters, gains, and limits for precise speed control.

DRV Parameters: Drive Configuration

Manages drive-specific settings such as acceleration, direction, mode, fault handling, and enable status.

CAM Parameters: Cam Profiling

Defines and activates cam profiles for cyclic, non-linear relationships between master and slave positions.