Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-11
Motion and Axis Commands
Motion and Axis Commands
ACC
Type:
Axis Command
Syntax:
ACC(rate of acc)
Note:
This command is provided to aid compatibility with older Trio controllers. Accelera-
tion rate and deceleration rate are recommended to be set with the
ACCEL
and
DECEL
axis parameters.
Description:
Sets both the acceleration and deceleration rate simultaneously
Parameters:
Example:
ACC(100)
ADD_DAC
Type:
Axis Command
Syntax:
ADD_DAC(axis)
Description:
The
ADD_DAC
command is provided to allow a secondary encoder to be used on a
servo axis to implement dual feedback control. This would typically be used in
applications such as a roll-feed where you need a secondary encoder to compensate
for slippage. The
ADD_DAC
function allows the output of 2 servo loops to be summed
on to the speed demand output to a drive.
To use
ADD_DAC
it is necessary for the two axes with physical feedback to link to a
common axis on which the required moves are executed. Typically this would be
achieved by running the moves on a virtual axis and using
ADDAX
or
CONNECT
to pro-
duce a matching
DPOS
on BOTH axes. The servo algorithm gains are then set up on
BOTH axes, and the output summed on to one physical output using
ADD_DAC
. Care
should be taken if the required demand positions on both axes are not identical due
to a difference in resolution between the 2 feedback devices.
rate of acc:
The units of the parameter are dependant on the
UNITS
axis
parameter. The acceleration factor is entered in UNITS/SEC/
SEC.
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