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The file $MACHINE.DAT (continued)
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Maschinendaten 12.0400 en
The following applies for the second DSE--IBS:
$PM_CHANNEL[]=28
1st KPS
$PM_CHANNEL[]=30
2nd KPS
$PM_CHANNEL[]=32
3rd KPS
$PM_CHANNEL[]=34
4th KPS
$PM_CHANNEL is also used to define the braking channel (2 per KPS) assigned to the axis
brake. Odd numbers indicate that the second braking channel of the KPS is used.
Example
Axis 5 is assigned to the first braking channel of the first KPS of the first DSE.
$PM_CHANNEL[5]=20
Axis 7 is assigned to the second braking channel of the first KPS of the first DSE.
$PM_CHANNEL[7]=21
This machine datum has been expanded for external drive boxes. The meaning of the
existing contents remains unchanged. A “1” before the entry signifies that the axis module
concerned has an SBM (Single Brake Module).
2.1.14 $LOOP_LG_PTP[ ]
Position controller gain
Data type
real
min
Value
----
Unit
----
Value
max ----
Assignment
----
Defines the position controller gain of the control loop.
The value applies to PTP and CP motion.
It is only required for the control loop of a position--controlled slave (“Slave Pos”).
2.1.15 $LOOP_G_VEL_PTP[ ]
Speed controller gain
Data type
Real
min
Value
----
Unit
----
Value
max ----
Assignment
----
Defines the proportional gain of the speed controller.
The value applies to PTP and CP motion.
It is only required for the control loop of a position--controlled slave (“Slave Pos”).
