Panasonic MINAS A6 Multi Quick Start Manual page 18

4 Create a Motion Perfect project
I_GAIN=0.0 'used as part of the closed loop control, adding integral gain to
a system reduces position error when at
'rest or moving steadily. It will produce or increase overshoot and may lead
to oscillation
D_GAIN=0.0 'Used as part of the closed loop control, adding derivative gain
to a system is likely to produce a
'smoother response and allow the use of a higher proportional gain than
could otherwise be used. High values may
'lead to oscillation
OV_GAIN=0.0 'The Output Velocity (OV) gain is a gain constant which is
multiplied by the change in measured positio
'n. The result is summed with all the other gain terms and applied to the
servo DAC. Adding NEGATIVE output velocity
'gain to a system is mechanically equivalent 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 lead to oscillation and produce high following errors
VFF_GAIN=23.0 'The velocity feed forward gain is a constant which is
multiplied by the change in demand position.
'Velocity feed forward gain can be used to decreases the following error
during constant speed by increasing the output
'proportionally with the speed
UNITS=1.0 'conversion factor that allows the user to scale the edges/
stepper pulses to a more convenient scale
SPEED=10000000.0 'can be used to set/read back the demand speed axis
parameter
ACCEL=100000000.0 'used to set or read back the acceleration rate of each
axis fitted. The acceleration rate is in
'UNITS /sec/sec
DECEL=100000000.0 'used to set or read back the deceleration rate of each
axis fitted
18 QS10006_V1.0_EN