BASIC commands
PROGRAMMING MANUAL 96
Revision 3.0
3.2.146 I_GAIN
/i
3.2.147 IDLE
See WAIT IDLE.
3.2.148 IEEE_IN
/i
3.2.149 IEEE_OUT
/i
Example HW_PSWITCH(2)
This command will clear FIFO queue if loaded previously.
See also AXIS
Type Axis parameter
Syntax I_GAIN
Description The I_GAIN parameter contains the integral gain for the axis. The integral out-
put contribution is calculated by multiplying the sums of the Following Errors
with the value of the I_GAIN parameter. The default value is 0.
Adding integral gain to a servo system reduces positioning error when at rest
or moving steadily. It can produce or increase overshooting and oscillation and
is therefore only suitable for systems working on constant speed and with slow
accelerations.
Note: In order to avoid any instability the servo gains should be changed only
when the SERVO is off.
Arguments N/A
Example No example.
See also D_GAIN, I_GAIN, OV_GAIN, P_GAIN, VFF_GAIN.
Type Mathematical function
Syntax IEEE_IN(byte0,byte1,byte2,byte3)
Description The IEEE_IN function returns the floating point number represented by 4
bytes which typically have been received over a communications link.
Arguments • byte0 - byte3
Any combination of 8 bit values that represents a valid IEEE floating point
number.
Example VR(20) = IEEE_IN(b0,b1,b2,b3)
See also N/A
Type Mathematical function
Syntax byte_n = IEEE_OUT(value, n)
Description The IEEE_OUT function returns a single byte in IEEE format extracted from
the floating point value for transmission over a bus system. The function will
typically be called 4 times to extract each byte in turn.
Note: Byte 0 is the high byte of the 32 bit IEEE floating point format.
Arguments • value
Any BASIC floating point variable or parameter.
• n
The byte number (0 - 3) to be extracted.
Example V=MPOS AXIS(2)
byte0 = IEEE_OUT(V, 0)
byte1 = IEEE_OUT(V, 1)
byte2 = IEEE_OUT(V, 2)
byte3 = IEEE_OUT(V, 3)
See also N/A
I52E-EN-03.book Seite 96 Freitag, 29. Juni 2007 11:55 11
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