P_Gain; Pmove; Pp_Step - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
See also:

6-3-138 P_GAIN

Type:
Description:
Precautions:
See also:
6-3-139 PI
Type:
Description:
Example:

6-3-140 PMOVE

Type:
Description:
See also:

6-3-141 PP_STEP

Type:
Description:
AXIS, D_GAIN, I_GAIN, P_GAIN, VFF_GAIN
Axis Parameter
The P_GAIN parameter contains the proportional gain. The proportional out-
put contribution is calculated by multiplying the following error with the
P_GAIN parameter value. The default value for axis 0 is 0.1.
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 fol-
lowing errors.
See section 1-4-1 Servo System Principles for more details.
In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
AXIS, D_GAIN, I_GAIN, OV_GAIN, VFF_GAIN
Constant
The PI constant returns the numerical value 3.1416.
Note A constant is read-only.
circum = 100
PRINT "Radius = ";circum/(2*PI)
Task Parameter
The PMOVE parameter contains the status of the task buffers. The parameter
will return TRUE if the task buffers are occupied, and FALSE if they are
empty.
When the task executes a movement command, the task loads the movement
information into the task move buffers. The buffers can hold one movement
instruction for any group of axes. PMOVE will be set to TRUE when loading of
the buffers has been completed. When the next servo interrupt occurs, the
motion generator will load the movement into the next move (NTYPE) buffers
of the required axes if they are available. When this second transfer has been
completed, PMOVE will be cleared to zero until another move is executed in
the task.
Each task has its own PMOVE parameter. Use the PROC modifier to access
the parameter for a certain task. Without PROC the current task will be
assumed.
Note This parameter is read-only.
NTYPE, PROC
Axis Parameter
The PP_STEP parameter contains an integer value that scales the incoming
raw encoder count. The incoming raw encoder count will be multiplied by
PP_STEP before being applied. Scaling can be used to match encoders to
high-resolution motors for position verification or for moving along circular
arcs on machines where the number of encoder edges/distance is not the
same on the axes.
The valid range is [-1023, -1] and [1, 1023]. Default is value 1.
Section 6-3
169