Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-177
Axis Parameters
RS_LIMIT
Type:
Axis Parameter
Alternate Format:
RSLIMIT
Description:
An end of travel software limit may be set up in software thus allowing the program
control of the working envelope of the machine. This parameter holds the absolute
position of the reverse travel limit in user units. When the limit is hit the controller
will ramp down the speed to zero then cancel the move. Bit 10 in the axis status
parameter is set when the axis is in the
RS_LIMIT
SERVO
Type:
Axis Parameter
Description:
On a servo axis this parameter determines whether the axis runs under servo con-
trol or open loop. When
SERVO=OFF
the axis hardware will output a voltage depend-
ent on the DAC parameter. When
SERVO=ON
the axis hardware will output a voltage
dependent on the gain settings and the following error.
SERVO
is also used on stepper axes with position verification. If
SERVO=ON
the sys-
tem software will compare the difference between the
DPOS
and
MPOS (FE)
on the
axis with the
FE_LIMIT
. If the difference exceeds the limit the following error bit is
set in the
AXISSTATUS
register, the enable relay is forced OFF and the servo is set
OFF. If the
SERVO=OFF
on a stepper verification axis the
FE
is not compared with
the
FE_LIMIT
.
Example:
SERVO AXIS(0)=ON' Axis 0 is under servo control
SERVO AXIS(1)=OFF' Axis 1 is run open loop
Note:
Stepper axes with position verification need consideration also of
VERIFY
and
PP_STEP.
SP
Type:
Axis Command - Use the
SPEED
axis parameter for new applications.
Description:
This format is only provided to simplify compatibility with earlier controllers. Sets
demand speed of the current or base axis.
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