BASIC commands
PROGRAMMING MANUAL
122
Revi
si
on 3.0
3.2.203 P_GAIN
/i
3.2.204 PI
/i
3.2.205 PMOVE
/i
Description
The
OV_GAIN
parameter contains the output velocity gain. The output veloc-
ity output contribution is calculated by multiplying the change in measured
position with the
OV_GAIN
parameter value. The default value is 0.
Adding output velocity gain to a system is mechanically equivalent to adding
damping. It is likely to produce a smoother response and allow the use of a
higher proportional gain than could otherwise be used, but at the expense of
higher Following Errors. High values may cause oscillation and produce high
Following Errors.
Note: In order to avoid any instability the servo gains should be changed only
when the
SERVO
is off.
Arguments
N/A
Example
No example.
See also
D_GAIN
,
I_GAIN
,
P_GAIN
,
VFF_GAIN
.
Type
Axis parameter
Syntax
P_GAIN
Description
The
P_GAIN
parameter contains the proportional gain. The proportional out-
put contribution is calculated by multiplying the Following Error with the
P_GAIN
parameter value. The default value of
P_GAIN
for Mechatro Speed
axis (
ATYPE = 41
) is 131072. The default value for Flexible axis Servo
(
ATYPE = 44
) is 1.0.
The proportional gain sets the stiffness of the servo response. Values that are
too high will cause oscillation. Values that are too low will cause large Follow-
ing Errors.
Note: In order to avoid any instability the servo gains should be changed only
when the
SERVO
is off.
Arguments
N/A
Example
No example.
See also
D_GAIN
,
I_GAIN
,
OV_GAIN
,
VFF_GAIN
.
Type
Constant (read-only)
Syntax
PI
Description
The
PI
constant returns the numerical value 3.1416.
Arguments
N/A
Example
circum = 100
PRINT "Radius = ";circum/(2*PI)
See also
N/A
Type
Task parameter (read-only)
Syntax
PMOVE
Description
The
PMOVE
parameter contains the status of the task buffers. The parameter
returns
TRUE
if the task buffers are occupied, and
FALSE
if they are empty.
When the task executes a movement command, the task loads the movement
information into the task move buffers. The buffers can hold one movement
instruction for any group of axes.
PMOVE
will be set to
TRUE
when loading of
the buffers has been completed. When the next servo interrupt occurs, the
motion generator loads the movement into the next move (
NTYPE
) buffer of
the required axes if they are available. When this second transfer has been
completed,
PMOVE
is cleared to 0 until another move is executed in the task.
Each task has its own
PMOVE
parameter. Use the
PROC
modifier to access
the parameter for a certain task. Without
PROC
the current task will be
assumed.
Arguments
N/A
Example
No example.
See also
NTYPE
,
PROC
.
I52E-EN-03.book Seite 122 Freitag, 29. Juni 2007 11:55 11
