Omron SYSMAC CJ Series, Руководство по эксплуатации

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All BASIC commands Section 4-2
171
4-2-129 I_GAIN
/i
4-2-130 IDLE
See
WAIT IDLE
.
4-2-131 IEEE_IN
/i
4-2-132 IEEE_OUT
/i
Type Axis parameter
Syntax I_GAIN
Description The I_GAIN parameter contains the integral gain for the axis. The inte-
gral output contribution is calculated by multiplying the sums of the Fol-
lowing Errors with the value of the
I_GAIN parameter. The default value
is 0.
Adding integral gain to a servo system reduces positioning error when
at rest or moving steadily, but it can produce or increase overshooting
and oscillation and is therefore only suitable for systems working on
constant speed and with slow accelerations.
Note: In order to avoid any instability the servo gains should be changed
only when the
SERVO is off.
Note: Servo gains have no affect on stepper output axis, ATYPE=46.
Arguments N/A
Example No example.
See also D_GAIN , OV_GAIN , P_GAIN , VFF_GAIN .
Type Mathematical function
Syntax IEEE_IN(byte0,byte1,byte2,byte3)
Description The IEEE_IN function returns the floating point number represented by
4 bytes which typically have been received over a communications link,
such as ModbusTCP or FINS.
Note: byte0 is the high byte of the 32 bit IEEE floating point format.
Arguments • byte0 - byte3
Any combination of 8 bit values that represents a valid IEEE floating
point number.
Example VR(20) = IEEE_IN(b0,b1,b2,b3)
See also N/A
Type Mathematical function
Syntax byte_n = IEEE_OUT(value, n)
Description The IEEE_OUT function returns a single byte in IEEE format extracted
from the floating point value for transmission over a communications
link. The function will typically be called 4 times to extract each byte in
turn.
Note: Byte 0 is the high byte of the 32 bit IEEE floating point format.