OWIS PS35 Betriebsanleitung Seite 64

command
commando
group
PTABCIRCLE
<uv>=<uv>, ...
MCSTP<n>=<uv>
?MCSTP<n>
DRICUR<n>=<uv>
?DRICUR<n>
HOLCUR<n>=<uv>
?HOLCUR<n>
ATOT<n>=<uv>
?ATOT<n>
FKP<n>=<uv>
?FKP<n>
FKD<n>=<uv>
?FKD<n>
FKI<n>=<uv>
?FKI<n>
FIL<n>=<uv>
?FIL<n>
FST<n>=<uv>
?FST<n>
FDT<n>=<uv>
?FDT<n>
MXPOSERR<n>=<uv> Set maximum position error for a servo axis. If the value is exceeded, the axis
?MXPOSERR<n>
MAXOUT<n>=<uv>
?MAXOUT<n>
INPOSMOD<n>=<uv> Set end-of-motion reporting mode:
?INPOSMOD<n>
INPOSTIM<n>=<uv> Set end-of-motion reporting time in multiples of the cycle time.
?INPOSTIM<n>
INPOSWND<n>=<uv> Set end-of-motion settling window in encoder counts.
?INPOSWND<n>
Änderungen vorbehalten
64
function description
Calculates circular interpolation and registers in the positioning table starting
at the denoted start line. The parameters are passed as a list, separated by
comma. The enable-bits of the axes are disjuncted bit by bit with the possibly
already existing entries of the current table.
1. number of axis for X (0 for no X axis)
2. number of axis for Y (0 for no Y axis)
3. segment time in ms (16 bit)
4. function code (OR-template) for the segments (16 bit)
5. number of segment of the circle (16 bit)
6. signed radius (32 bit)
7. start angle in degree with signed value (16 bit)
8. angle range in degree with signed value (16 bit)
9. optionally scaling counter with signed value (16 bit)
10. optionally scaling denominator with signed value (16 bit)
Set micro step resolution with the step motor axes.
Read out micro step resolution with the step motor axes.
Set driving current with step motors in percent of the maximum output value
defined by the selected current range of the motor power stage.
Read out driving current with step motors in percent.
Set holding current with step motor axes in percent.
Read out holding current with step motor axes in percent.
Set timeout in milliseconds, "0" switches off the timeout monitoring.
Query time-out for the axes.
Set control parameter KP for an axis.
Query control parameter KP for an axis.
Set control parameter KD for an axis.
Query control parameter KD for an axis.
Set control parameter KI for an axis.
Query control parameter KI for an axis.
Set control parameter integration limit for an axis.
Query control parameter integration limit for an axis.
Set sample time for an axis (in micro seconds).
Query sample time for an axis (in micro seconds).
Set delay time of the differential term (KD) for an axis (in sample time cycles). FDT1=5
Query delay time of the differential term (KD) for an axis (in sample time cycles).
is deactivated. This works only for the motor types DC brush and step motor
Closed-Loop.
Read out maximum position error for an axis.
Set maximum output value for the servo loop in percent. With this command,
the maximum value for an axis to be returned at the servo amplifier can be set.
Maximum value allowed: 99%.
Read out maximum output value in percent.
0 = target position reached,
1 = actual position is within the settling window for a time defined
by "INPOSTIM" command.
Read out end-of-motion reporting mode.
Read out end-of-motion reporting time.
Read out end-of-motion settling window.
Betriebsanleitung-User Manual PS 35
example response
PTABCIRLCE0=
1,2,10000,0,12,
50000,0,360,1,1
MCSTP1=50
?MCSTP1 50
DRICUR1=50
?DRICUR1 50
HOLCUR1=30
?HOLCUR1 30
ATOT1=20000
?ATOT1 20000
FKP1=25
?FKP1 25
FKD1=5
?FKD1 5
FKI1=10
?FKI1 10
FIL1=100000
?FIL1 100000
FST1=500
?FST1 500
?FDT1 5
MXPOSERR1=
50
?MXPOSERR1 50
MAXOUT1=95
?MAXOUT1 95
INPOSMOD1=0
?INPOSMOD1 0
INPOSTIM1=1000
?INPOSTIM1 1000
INPOSWND1=50
?INPOSWND1 50
Subject to change without notice