➄
Software Commands
59
Refer to Chapter
➃
—Tuning for more information.
Command
Description
BCIL40
Set the integral limit term to 40
BCIG10
Set the integral gain term to 10
1BCIG
Reports integral gain term (*CIG10)
BCIL—Buffered Configure Integral Limit
❏
Command Type: Set-up
❏
Valid Software Version: A
❏
Syntax: <a>BCILn
❏
Units: N/A
❏
Range: n = 0-32,767
❏
Default Value: 2
❏
Attributes: Buffered
❏
Response to aBCIL is *CILn
Savable in Sequence
❏
See Also: BCDG, BCIG,
BCPG, BCTG, CDG, CIG,CPG, CTG
This buffered command is used for system tuning. Since integral windup can sometimes
cause very aggressive motion, you may want to limit this effect. CIL sets an upper limit on
the integral, which in turn limits the integral term (Integral * CIG).
Refer to Chapter
➃
—Tuning for more information.
Command
Description
BCIG10
Set the integral gain term to 10
BCIL40
Set the integral limit to 40
1BCIL
Reports integral limit term (*CIL40)
BCPE—Buffered Configure Position Error
❏
Command Type: Set-up
❏
Valid Software Version: A
❏
Syntax: <a>BCPEn
❏
Units: N/A
❏
Range: n = 0-32,767
❏
Default Value: 4000
❏
Attributes: Buffered
❏
Response to aBCPE is *CPEn
Savable in Sequence
❏
See Also: DPE, CPE
This buffered command defines the maximum allowable position or following error. If the
actual position error ever exceeds the allowable position error, the TQ10X will generate a
fault condition and shut down power output to the motor. If the maximum allowable
position error is set to Ø, the function is disabled and no amount of position error will
generate the fault condition.
Refer to Chapter
➃
—Tuning for more information.
Command
Description
BCPE400
Set the maximum allowable position error to 400 encoder counts
BCPE0
Disable fault generation due to position error
1BCPE
Reports maximum position error setting (*CPE0)
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