Omron R88A-MCW151-DRT-E - Outdevice; Outlimit; Ov_Gain

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Command, function and parameter description Section 6-3
The parentheses are evaluated first, but only the integer part of the result, 18,
is used for the operation. Therefore, this expression is equivalent to the fol-
lowing:
result = 10 OR 18
The OR is a bit operator and so the binary action taking place is:
Therefore,
result will contain the value 26.
Example 2
IF KEY OR VR(0) = 2 THEN GOTO label
6-3-135 OUTDEVICE
Type: I/O Parameter
Description: The OUTDEVICE parameter defines the default output device. This device
will be selected for the PRINT command when the #n option is omitted. The
OUTDEVICE parameter is task specific. The following values are supported.
See also: PRINT
6-3-136 OUTLIMIT
Type: Axis Parameter
Description: The OUTLIMIT parameter contains the speed reference limit that restricts the
speed reference from the MC Unit to the Servo Driver for both servo loop
(SERVO=ON) and open loop (SERVO=OFF).
The default value of OUTLIMIT for axis 0 is 15000. This sets the speed refer-
ence range to [-15000, 14999], which is the actual input reference range of
the Servo Driver.
See also: AXIS, S_RATE, S_REF, S_REF_OUT, SERVO
6-3-137 OV_GAIN
Type: Axis Parameter
Description: The OV_GAIN parameter contains the output velocity gain. The output veloc-
ity output contribution is calculated by multiplying the change in measured
position with the OV_GAIN parameter value. The default value is 0.
Adding 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 cause oscillation and produce high
following errors.
See section 1-4-1 Servo System Principles for more details.
Precautions: In order to avoid any instability the servo gains should be changed only when
the SERVO is OFF.
01010
OR 10010
11010
0 RS-232C programming port 0 (default)
1 RS-232C serial port 1
2 RS-422A/485 serial port 2
5 Motion Perfect port 0 user channel 5
6 Motion Perfect port 0 user channel 6
7 Motion Perfect port 0 user channel 7