BASIC commands
PROGRAMMING MANUAL
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3.2.69 CREEP
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3.2.70 D_GAIN
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3.2.71 D_ZONE_MAX
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3.2.72 D_ZONE_MIN
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Type
Axis parameter
Syntax
CREEP
Description
The
CREEP
axis parameter contains the creep speed for the axis. The creep
speed is used for the slow part of an origin search sequence.
CREEP
can
have any positive value, including 0.
The creep speed is entered in units/sec with the unit conversion factor
UNITS
. For example, if the unit conversion factor is set to the number of
encoder edges/inch, the speed is set in inches/sec.
Arguments
N/A
Example
BASE(2)
CREEP=10
SPEED=500
DATUM(4)
CREEP AXIS(1)=10
SPEED AXIS(1)=500
DATUM(4) AXIS(1)
See also
AXIS
,
DATUM
,
UNITS
.
Type
Axis parameter
Syntax
D_GAIN
Description
The
D_GAIN
axis parameter contains the derivative gain for the axis. The
derivative output contribution is calculated by multiplying the change in Fol-
lowing Error with
D_GAIN
. The default value is 0.
Add the derivative gain to a system to produce a smoother response and to
allow the use of a higher proportional gain that could not be used otherwise.
High values can cause oscillation.
Note: The servo gain must only be changed when the
SERVO
is off.
Note: Servo gains have no affect on stepper output axis, ATYPE=46.
Arguments
N/A
Example
D_GAIN=0.25
See also
•
AXIS
,
I_GAIN
,
OV_GAIN
,
P_GAIN
,
VFF_GAIN
.
Type
System parameter
Syntax
D_ZONE_MAX=value
Description
This parameter works in conjunction with
D_ZONE_MIN
to clamp the DAC
output to zero when the demand movement is complete and the magnitude of
the Following Error is less than the
D_ZONE_MIN
value. The servo loop will
be reactivated when either the Following Error rises above the
D_ZONE_MAX
value, or a fresh movement is started.
Arguments
N/A
Example
D_ZONE_MIN=3
D_ZONE_MAX=10
With these 2 parameters set as above, the DAC output will be clamped at
zero when the movement is complete and the Following Error falls below 3.
When a movement is restarted or if the Following Error rises above a value of
10, the servo loop will be reactivated.
See also
D_ZONE_MIN
.
Type
System parameter
Syntax
D_ZONE_MIN=value
Description
This parameter works in conjunction with
D_ZONE_MAX
to clamp the DAC
output to zero when the demand movement is complete and the magnitude of
the Following Error is less than the
D_ZONE_MIN
value. The servo loop will
be reactivated when either the Following Error rises above the
D_ZONE_MAX
value, or a fresh movement is started.
Arguments
N/A