Omron R88A-MCW151-DRT-E - S_Ref; S_Ref_Out; Scope

182
Command, function and parameter description Section 6-3
See also: AIN2, AXIS, S_REF, S_REF_OUT, OUTLIMIT
Example: The following the statement will print the current speed reference in RPM
which is applied to the Servo Driver.
>> PRINT S_REF_OUT*S_RATE
6-3-168 S_REF
Type: Axis Parameter
Alternative: DAC
Description: The S_REF 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 the S_REF parameter is defined by [-15000, 14999], but can be lim-
ited by using the OUTLIMIT parameter.
The actual speed reference is depending on the Servomotor. To determine
the speed reference in rounds per minute (RPM), multiply the S_REF param-
eter value with the S_RATE parameter value.
The value currently being applied to the drive can be read using the
S_REF_OUT axis parameter.
See also: AXIS, S_RATE, S_REF_OUT, OUTLIMIT, SERVO
Example: The following lines can be used to force a square wave of positive and nega-
tive movement with a period of approximately 500ms on axis 0.
WDOG = ON
SERVO = OFF
square:
S_REF AXIS(0) = 2000
WA(250)
S_REF AXIS(0) = -2000
WA(250)
GOTO square
6-3-169 S_REF_OUT
Type: Axis Parameter
Alternative: DAC_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 Servomotor is determined using the motion control
commands. In open loop (SERVO=OFF), the speed reference signal is deter-
mined by the S_REF axis parameter.
The actual speed reference is depending on the Servomotor. To determine
the speed reference in rounds per minute (RPM), multiply the S_REF param-
eter value with the S_RATE parameter value.
Note This parameter is read-only.
See also: AXIS, OUTLIMIT, S_REF, S_REF_OUT, SERVO
Example: >> PRINT S_REF_OUT AXIS(0)
288.0000
6-3-170 SCOPE
Type: Motion Perfect Command
Syntax: SCOPE(
control , period , table_start , table_stop , P0 [, P1 [, P2 [, P3 ]]])