Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-159
Axis Parameters
DPOS
Type:
Axis Parameter (Read Only)
Description:
The demand position
DPOS
is the demanded axis position generated by the move
commands. Its value may also be adjusted without doing a move by using the
DEF-
POS()
or
OFFPOS
commands. It is reset to 0 on power up or software reset. The
demand position must never be written to directly although a value can be forced
to create a step change in position by writing to the
ENDMOVE
parameter if no
moves are currently in progress on the axis.
Example:
>>? DPOS AXIS(10)
This will return the demand position in user units.
DRIVE_STATUS
Type:
Axis Parameter
Description:
Returns the status register of a drive with digital communications capability con-
nected to the Motion Coordinator.
In the case of an SLM axis it returns the SLM and drive status:
Bits 0..7 return bits 0..7 of register 0x8000 on the drive. Bits 8..23 return register
0xD000 on the SLM.
Example:
>>PRINT DRIVE_STATUS AXIS(8)
0.0000
>>
D_GAIN
Type:
Axis Parameter
Syntax:
D_GAIN=value
Description:
The derivative gain is a constant which is multiplied by the change in following
error.
Adding derivative gain to a system is likely to produce a smoother response and
allow the use of a higher proportional gain than could otherwise be used.
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