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Command, function and parameter description Section 6-3
>> PRINT ADDAX_AXIS
2.0000
6-3-20 ADDAX
Type: Motion Control Command
Syntax: ADDAX(
axis
)
Description: The ADDAX command takes the demand position changes from the superim-
posed axis as specified by the axis argument and adds them to any move-
ment running on the axis to which the command is issued.
After the ADDAX command has been issued the link between the two axes
remains until broken. Use ADDAX(-1) to cancel the axis link. ADDAX allows
an axis to perform the moves specified for 2 axes added together. Combina-
tions of more than two axes can be made by applying ADDAX to the superim-
posed axis as well.
ADDAX works on the default basis axis (set with BASE) unless AXIS is used
to specify a temporary base axis.
!WARNING
Beware that giving several ADDAX commands in a system can create a dan-
gerous loop when for instance one axis is linked to another and vice versa.
This may cause instability in the system.
Arguments:
axis
The axis to be set as a superimposed axis. Set the argument to –1 to cancel
the link and return to normal operation.
See also: ADDAX_AXIS, AXIS
Example: Pieces are placed onto a continuously moving belt and further along the line
are picked up. A detection system gives an indication as to whether a piece is
in front of or behind its nominal position, and how far.
In the example below, axis 0 is assumed to be the base axis and it executes a
continuous forward movement and a superimposed move on axis 2 is used to
apply offsets according to the offset calculated in a subroutine.
FORWARD ’Set continuous move
ADDAX(2) ’Add axis 2 for correction
REPEAT
GOSUB getoffset ’Get offset to apply
MOVE(offset) AXIS(2)
UNTIL IN(2) = ON ’Until correction is done
6-3-21 AIN
Type: System Parameters
Syntax: AIN0, AIN1, AIN2, AIN3
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