Omron trajexia CJ1W-MCH72 Operation Manual page 136

All BASIC commands
4-2-59 CREEP
4-2-60 D_GAIN
4-2-61 D_ZONE_MAX
Arguments • expression
Any valid BASIC expression.
Example >> PRINT COS(0)
1.0000
See also N/A
/i
Type Axis parameter
Syntax CREEP
Description The CREEP axis parameter contains the creep speed for the axis. The
creep speed is used for the slow part of an origin search sequence.
CREEP can have any positive value, including 0.
The creep speed is entered in units/sec with the unit conversion factor
UNITS. For example, if the unit conversion factor is set to the number of
encoder edges/inch, the speed is set in inches/sec.
Arguments N/A
Example BASE(2)
CREEP=10
SPEED=500
DATUM(4)
CREEP AXIS(1)=10
SPEED AXIS(1)=500
DATUM(4) AXIS(1)
See also AXIS, DATUM, UNITS.
/i
Type Axis parameter
Syntax D_GAIN
Description The D_GAIN axis parameter contains the derivative gain for the axis.
The derivative output contribution is calculated by multiplying the
change in Following Error with D_GAIN. The default value is 0.
Add the derivative gain to a system to produce a smoother response
and to allow the use of a higher proportional gain that could not be used
otherwise. High values can cause oscillation.
Note: The servo gain must only be changed when the SERVO is off.
Note: Servo gains have no affect on stepper output axis, ATYPE=46.
Arguments N/A
Example D_GAIN=0.25
See also • AXIS, I_GAIN, OV_GAIN, P_GAIN, VFF_GAIN.
/i
Type System parameter
Syntax D_ZONE_MAX=value
Section 4-2
125