Omron SYSMAC CJ Series, Руководство по эксплуатации

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All BASIC commands Section 4-2
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4-2-178 OV_GAIN
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4-2-179 P_GAIN
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4-2-180 PI
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Type Axis parameter
Syntax OV_GAIN
Description The OV_GAIN parameter contains the output velocity gain. The output
velocity output contribution is calculated by multiplying the change in
measured position with the
OV_GAIN parameter value. The default
value is 0.
Adding negative output velocity gain to a system is mechanically equiv-
alent 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: Negative values are normally required for
OV_GAIN .
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
output contribution is calculated by multiplying the Following Error with
the
P_GAIN parameter value. The default value of P_GAIN for MECHA-
TROLINK-II Speed axis ( ATYPE = 41 ) is 131072. The default value for
Encoder Interface In ( 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 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 , OV_GAIN , VFF_GAIN .
Type Constant (read-only)
Syntax PI
Description The PI constant returns the numerical constant value of approximately
3.14159.
Arguments N/A
Example circum = 100
PRINT "Radius = "; circum/(2*PI)
See also N/A