Omron trajexia CJ1W-MCH72 - Page 101

All BASIC commands Section 4-2
90
4-2-19 ACCEL
/i
4-2-20 ACOS
/i
4-2-21 ADD_DAC
/i
Type Axis parameter
Syntax ACCEL = expression
Description The ACCEL axis parameter contains the axis acceleration rate. The
rate is set in units/s
2
. The parameter can have any positive value includ-
ing zero.
Arguments N/A
Example BASE(0)
ACCEL = 100 ' Set acceleration rate
PRINT "Acceleration rate: "; ACCEL; " mm/s/s"
ACCEL AXIS(2) = 100 ' Sets acceleration rate for axis (2)
See also ACCEL, DECEL, UNITS
Type Mathematical function
Syntax ACOS(expression)
Description The ACOS function returns the arc-cosine of the expression. The
expression value must be between -1 and 1. The result in radians is
between 0 and PI. Input values outside the range will return 0.
Arguments • expression
Any valid BASIC expression.
Example >> PRINT ACOS(-1)
3.1416
See also N/A
Type Axis command
Syntax ADD_DAC(axis)
+
_
SERVO = OFF
SERVO = ON
Final speed reference in AXIS(n) =
DAC_OUT AXIS(m) + DAC_OUT AXIS(n)
ADD_DAC(n) AXIS(m):
+
+
AXIS m
Position loop
Demanded
position
Measured
position
Following
error
Speed
command
+
_
SERVO = OFF
SERVO = ON
AXIS n
Position loop
Demanded
position
Measured
position
Following
error
Speed
command
DAC
DAC