Examples and tips
PROGRAMMING MANUAL 284
Revision 3.0
'Pn110=0012h (autotuning disabled)
restart=1
ENDIF
DRIVE_READ($202,2,10)
IF VR(10)<>1 THEN
DRIVE_WRITE($202,2,1,1)
'Pn202=1 (gear ratio numerator in the drive. Default is 4)
restart=1
ENDIF
DRIVE_READ($511,2,10)
IF VR(10)<>$6548 THEN
DRIVE_WRITE($511,2,$6548,1)
'Pn511 set the registration inputs in the Servo Driver
restart=1
ENDIF
DRIVE_READ($81E,2,10)
IF VR(10)<>$4321 THEN
DRIVE_WRITE($81E,2,$4321,1)
'Pn81E=$4321 To make the Digital inputs in the Servo Driver
'available for reading through DRIVE_INPUTS word
restart=1
ENDIF
IF restart=1 THEN DRIVE_RESET
'----------------------------
'Initial gains For MECHATROLINK_SPEED
'----------------------------
'By experience this setting is a good starting point
P_GAIN=INT(214748.3648*max_speed/enc_resolution)
'This is the optimum value. Set if needed
VFF_GAIN=INT(60000*1073741824/enc_resolution/max_speed)
'----------------------------
'Initial gains For MECHATROLINK_POSITION mode
'----------------------------
'Change the rigidity (Fn001) according to the 'mechanical system
'Change feedforward gain Pn109 if required
'----------------------------
'Initial parameter of the AXIS
I52E-EN-03.book Seite 284 Freitag, 29. Juni 2007 11:55 11
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