Omron TJ2-MC64 - PROGRAMMING Programming Manual page 77

BASIC commands
3.2.69 CREEP
/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.
3.2.70 D_GAIN
/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 Fol-
lowing 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
PROGRAMMING MANUAL
Example D_GAIN=0.25
See also • AXIS, I_GAIN, OV_GAIN, P_GAIN, VFF_GAIN.
3.2.71 D_ZONE_MAX
/i
Type System parameter
Syntax D_ZONE_MAX=value
Description This parameter works in conjunction with D_ZONE_MIN to clamp the DAC
output to zero when the demand movement is complete and the magnitude of
the Following Error is less than the D_ZONE_MIN value. The servo loop will
be reactivated when either the Following Error rises above the
D_ZONE_MAX value, or a fresh movement is started.
Arguments N/A
Example D_ZONE_MIN=3
D_ZONE_MAX=10
With these 2 parameters set as above, the DAC output will be clamped at
zero when the movement is complete and the Following Error falls below 3.
When a movement is restarted or if the Following Error rises above a value of
10, the servo loop will be reactivated.
See also D_ZONE_MIN.
3.2.72 D_ZONE_MIN
/i
Type System parameter
Syntax D_ZONE_MIN=value
Description This parameter works in conjunction with D_ZONE_MAX to clamp the DAC
output to zero when the demand movement is complete and the magnitude of
the Following Error is less than the D_ZONE_MIN value. The servo loop will
be reactivated when either the Following Error rises above the
D_ZONE_MAX value, or a fresh movement is started.
Arguments N/A
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