BASIC commands
PROGRAMMING MANUAL 135
Revision 3.0
3.2.235 S_REF
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3.2.236 S_REF_OUT
/i
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 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 actual speed reference is depending on the servo motor. To determine
the speed reference in rounds per minute (RPM), multiply the parameter
value with the S_RATE parameter value.
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.
The actual speed reference is depending on the servo motor. To determine
the speed reference in rounds per minute (RPM), multiply the S_REF param-
eter value with the S_RATE parameter value.
Arguments N/A
Example >> PRINT S_REF_OUT AXIS(0)
288.0000
See also AXIS, S_REF, OUTLIMIT, SERVO.
I52E-EN-03.book Seite 135 Freitag, 29. Juni 2007 11:55 11
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