Allows the output device of the torque reference to be defined.
Syntax |
T_REF n ttt [-SSELnt] [-REPn] |
|---|---|
n |
Number of axis (1÷32) |
ttt |
Type of output device (see below for descriptions): •OFF •CAN •NVR •R •NVRR •RR |
SSELnt |
Specifies if the same device is also used for torque reference (0/1) (optional) |
REPn |
Repeats the definition of the output device by incrementing axis number and any indices n times (1÷32) (optional) |
Default |
T_REF n OFF (for n = 1÷32) |
Notes |
Diagnostics are issued for double axis definition, unknown ttt code or already used output device |
WARNING: This keyword is automatically generated by project configurator.
Project configurator --> Axis --> Actuator to select the reference type.
Allowed device types (ttt)
OFF (without torque references)
Syntax |
T_REF n OFF |
|---|---|
Notes |
Diagnosis is issued for double axis definition or unknown ttt code |
Example
T_REF 21 OFF |
ANALOGIC (axis with analog torque reference +/- 10 volts)
Syntax |
T_REF n ANALOGIC idxA -Bnbit=-12 -ORn |
|---|---|
idxA |
Analog output channel number (1÷32) |
Bnbit |
Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned) (optional, default -12) |
ORn |
Index of an R (volatile) register containing the analog offset value (1 ÷ num_r) (optional) |
Notes |
Diagnostics are issued for out-of-range parameters |
Example
T_REF 14 ANALOGIC 19 -B-16 T_REF 19 ANALOGIC 30 -B-12 -OR2719 |
ANALOGIC_DIG_DIR (axis with analog torque reference 0/10 volts + direction)
Syntax |
T_REF n ANALOGIC_DIG_DIR idxA -Bnbit=-12 -Pnch=-P0 -Nnch=-N0 -ORn=-OR0 |
|---|---|
idxA |
Analog output channel number |
Bnbit |
Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned) (optional, default -12) |
Pnch |
Number of the output channel to be used to select positive direction. (optional, default -P0 - no output) |
Nnch |
Number of the output channel to be used to select negative direction. (optional, default -N0 - no output) |
ORn |
Index of an R (volatile) register containing the analog offset value (1÷num_r). (optional, default -OR0) |
Notes |
Diagnostics are output for out-of-range parameters |
Example
T_REF 14 ANALOGIC_DIG_DIR 19 -B-16 -P280 -N281 |
ANALOGIC_MONODIRECTION (axis with monodirectional analog torque reference 0/10 volts)
Syntax |
T_REF n ANALOGIC_MONODIRECTION idxA -Bnbit=-12 NEG -ORn=-OR0 |
|---|---|
idxA |
Analog output channel number |
Bnbit |
Output device bit number (1÷32) and mode of use (if negative is assumed signed, if positive unsigned) (optional, default -12) |
NEG |
Negative direction selection. Default is absent (positive direction) |
ORn |
Index of an R (volatile) register containing the analog offset value (1÷num_r). (optional, default -OR0) |
Notes |
Diagnostics are issued for out-of-range parameters |
Example
T_REF 14 ANALOGIC_MONODIRECTION 19 -B-16 NEG |
CAN (axis with reference via CANOPEN)
Syntax |
T_REF n CAN -Bnbit=-32 |
|---|---|
Bnbit |
Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned) (optional, default -32) |
Notes |
This definition is accepted only if the axis has been previously defined as a can axis |
Example
T_REF 14 CAN -B-16 |
NVR (axis referenced on NVR register)
Syntax |
T_REF n NVR idxR -Bnbit=-32 |
|---|---|
idxR |
Number of the NVR integer register (retentive) in which the speed reference is written (1÷num_nvr) |
Bnbit |
Number of output device bits (1÷32) and usage mode (if negative is assumed signed, if positive unsigned) (optional, default -32) |
Notes |
Diagnostics are output for out-of-range parameters |
Example
T_REF 14 R 300 -B-18 |
R (axis with reference on R register)
Syntax |
T_REF n R idxR -Bnbit=-32 |
|---|---|
idxR |
Index of the R (volatile) register containing the analog offset value (1÷num_r). |
Bnbit |
Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned) (optional, default -32) |
Notes |
Diagnostics are output for out-of-range parameters. |
Example
T_REF 14 R 301 -B-27 |
NVRR (axis referenced on NVRR register)
Syntax |
T_REF n NVRR idxR |
|---|---|
idxR |
Number of the real NVRR (retentive) register in which the speed reference is written (1÷num_nvrr) |
Notes |
Diagnostics are issued for out-of-range parameters |
Example
T_REF 14 NVRR 310 |
RR (axis referenced on RR register)
Syntax |
T_REF n RR idxR |
|---|---|
idxR |
Index of the real RR (volatile) register containing the speed reference (1÷num_rr) |
Notes |
Diagnostics are issued for out-of-range parameters |
Example
T_REF 14 RR 310 |
