Examples and tips
PROGRAMMING MANUAL 229
Revision 3.0
'================================================
'Define Names for global variables
GLOBAL "project_status",100
GLOBAL "alarm_status",101
GLOBAL "action",102
'Initialize variables
VR(0)=0
project_status=0
alarm_status=0
action=0
'Start SHELL program
RUN "SHELL",2
STOP
6.1.2 Gain settings
The gain setting is related to the mechanical system to which the
motor is attached. There are three main concepts:
• Inertia ratio
• Rigidity
• Resonant frequency.
These concepts are described in the Hardware Reference Manual
in the chapter System Philosophy.
This section shows example parameter values for:
• Speed Loop Gain
• Proportional position gain
• Velocity Feed Forward gain.
The example values for the program and motion parameters in the
Trajexia system are given below. Note that they are appropriate for
13-bit encoders.
/i
Drive Parameter value Description
Pn103 = 716 Inertia ratio
Pn110 = 0012 No autotuning
I52E-EN-03.book Seite 229 Freitag, 29. Juni 2007 11:55 11
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