Omron CK3M-CPU 1 Series Application Manual page 53

6
Add the gain settings obtained from the
tuning to the MotorControl.pmh file.
7
Open the pp_startup.txt file under
Configuration in the Solution Explorer.
8
Write the phase search commands
shown on the right.
9
Open the plc1.plc file under PMAC
Script Language – PLC Programs in
the Solution Explorer.
10
Add the program shown on the right to
the plc1.plc file.
Application Guide Laser Application (O052)
3 Connection Procedures
Motor[1].IiGain=***
Motor[2].IiGain=***
Motor[1].IpfGain=***
Motor[2].IpfGain=***
Motor[1].Servo.Kp=***
Motor[2].Servo.Kp=***
Motor[1].Servo.Kvfb=***
Motor[2].Servo.Kvfb=***
Motor[1].Servo.Ki=***
Motor[2].Servo.Ki=***
Motor[1].Servo.Kaff=***
Motor[2].Servo.Kaff=***
Motor[1].Servo.Kvff=***
Motor[1].Servo.Kfff=***
enable plc PhaseSearch
open plc PhaseSearch
P0=Sys.Time+1.0;
while(P0>Sys.Time){};
Motor[1].PhaseFindingStep=1;
while(Motor[1].PhaseFindingStep!=0){};
Motor[2].PhaseFindingStep=1;
while(Motor[2].PhaseFindingStep!=0){};
disable plc PhaseSearch
close
3
3-37