60
TQ10X User Guide
BCPG—Buffered Configure Proportional Gain
❏
Command Type: Set-up
❏
Valid Software Version: A
❏
Syntax: <a>BCPGn
❏
Units: N/A
❏
Range: n = 0-32,767
❏
Default Value: 16
❏
Attributes: Buffered
❏
Response to aBCPG is *CPGn
Savable in Sequence
❏
See Also: BCDG, BCIG,
BCTG, CDG, CIG, CTG
This buffered command is used for system tuning. This term represents the gain applied
directly to the position error. The proportional gain sets how actively the system will
respond to position error. High proportional gain will give a stiff, responsive system, but
may result in overshoot and oscillation.
Refer to Chapter
➃
—Tuning for more information.
Command
Description
BCPG50
Set the proportional gain term to 50
1BCPG
Reports proportional gain term (*CPG50)
BCTG—Buffered Configure Derivative Sampling Period
❏
Command Type: Set-up
❏
Valid Software Version: A
❏
Syntax: <a>BCTGn
❏
Units: 266 µsec
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Range: n = 0-255
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Default Value: 0
❏
Attributes: Buffered
❏
Response to aBCTG is *CTGn
Savable in Sequence
❏
See Also: BCDG, BCIG,
BCPG, CDG, CIG, CPG
This buffered command is used for system tuning. Use BCTG to adjust the derivative
sampling period. The system sampling period—266 µsec—is the period between updates of
position error. The derivative sampling period is an integer multiple of the system sampling
period. In general, a longer derivative sampling period gives a more constant derivative
term and improves stability. Many systems require a low BCTG value to prevent
oscillations, however. Therefore, start with a low value and increase it incrementally.
Refer to Chapter
➃
—Tuning for more information.
Command
Description
BCTG0
Set the derivative sampling period to 266 µsec
BCTG1
Set the derivative sampling period to 532 µsec
BCTG2
Set the derivative sampling period to 798 µsec
BCTG3
Set the derivative sampling period to 1064 µsec
1BCTG
Reports derivative sampling period (*CTG3)
BS—Buffer Size Status
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Command Type: Status
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Valid Software Version: A
❏
Syntax: aBS
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Units: N/A
❏
Range: N/A
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Default Value: N/A
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Attributes: Immediate,
❏
Response to aBS is *n
Never Saved
❏
See Also: B
This command reports the number of bytes remaining in the command buffer. When
entering long string commands, check the buffer status to be sure that there is enough room
in the buffer. Otherwise, commands may be lost. Each character (including delimiters) uses
one byte. The range for the response is 0 - 512 bytes.
Command
Response
1BS
*122 (122 bytes available in the buffer)
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