Omron trajexia CJ1W-MCH72 Operation Manual page 225

All BASIC commands
4-2-181 OV_GAIN
4-2-182 P_GAIN
4-2-183 PI
214
/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.
/i
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.
/i
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
Section 4-2