Gain Settings - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

Examples and tips
'================================================
'Define Names for global variables
GLOBAL "project_status",100
GLOBAL "alarm_status",101
GLOBAL "action",102
'Initialize variables
VR(0)=0
project_status=0
alarm_status=0
action=0
'Start SHELL program
RUN "SHELL",2
STOP
6.1.2

Gain settings

The gain setting is related to the mechanical system to which the
motor is attached. There are three main concepts:
• Inertia ratio
• Rigidity
• Resonant frequency.
These concepts are described in the Hardware Reference Manual
in the chapter System Philosophy.
This section shows example parameter values for:
• Speed Loop Gain
• Proportional position gain
• Velocity Feed Forward gain.
The example values for the program and motion parameters in the
Trajexia system are given below. Note that they are appropriate for
13-bit encoders.
/i
Drive Parameter value Description
Pn103 = 716 Inertia ratio
Pn110 = 0012 No autotuning
PROGRAMMING MANUAL 229