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All BASIC commands
Section 4-2
214
4-2-181 OV_GAIN
/i
4-2-182 P_GAIN
/i
4-2-183 PI
/i
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
Содержание trajexia CJ1W-MCH72
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Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
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