BASIC commands
PROGRAMMING MANUAL 72
Revision 1.0
3.2.73 DAC
See S_REF.
3.2.74 DAC_OUT
See S_REF_OUT.
3.2.75 DAC_SCALE
/i
3.2.76 DATE
/i
3.2.77 DATE$
/i
Example D_ZONE_MIN=3
D_ZONE_MAX=10
With these 2 parameters set as above, the DAC output will be clamped at
zero when the movement is complete and the Following Error falls below 3.
When a movement is restarted or if the Following Error rises above a value of
10, the servo loop will be reactivated.
See also D_ZONE_MAX.
Type Axis parameter
Syntax DAC_SCALE
Description The DAC_SCALE axis parameter is an integer multiplier which is applied
between the servo control loop output and the Digital to Analog Converter
which output is supplied to the Servo Drive. Its value is set to 16 on axes with
a 16 bit Digital to Analog Converter, which are Flex axis types. This scales
the values applied to the higher resolution DAC so that the gains required on
the axis are similar to those required on the other controllers.
DAC_SCALE may be set negative (-16) to reverse the polarity of the DAC
output signal. This is useful in case if e.g. absolute SSI encoder used has no
capability of changing default CW/CCW rotation direction and the default
direction is opposite to the one of the Servo Drive used.
Note: When the SERVO is OFF for a given axis, the magnitude of
DAC_SCALE is not important as the voltage applied is controlled by the DAC
parameter. The polarity is still reversed however by DAC_SCALE.
Note: The default DAC_SCALE value for MECHATROLINK-II axis types is 1.
Arguments N/A
Example DAC_SCALE AXIS(3)=-16
See also DAC, S_REF.
Type System parameter
Syntax DATE
Description Returns or sets the current date held by the Trajexia' s real time clock. The
number may be entered in DD:MM:YY or DD:MM:YYYY format.
Arguments N/A
Example DATE=25:09:09
or
DATE=25:09:2009
Example >>PRINT DATE
3555
This prints the number representing the current day. This number is the
number of days since 1st January 2000, with 1 Jan. 1900 represented as 1.
See also N/A
Type System command
Syntax DATE$
Description Prints the current date DD/MMM/YYYY as a string to the communication port.
A 4-digit year description is given.
Arguments N/A
Example PRINT #1, DATE$
This will print the date in format for example: 20/Oct/2005
See also N/A
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