Omron TJ2-MC64 - PROGRAMMING - Page 122

BASIC commands
PROGRAMMING MANUAL 116
Revision 1.0
3.2.158 I_GAIN
/i
3.2.159 IDLE
See WAIT IDLE.
3.2.160 IEEE_IN
/i
3.2.161 IEEE_OUT
/i
3.2.162 IF..THEN..ELSE..ENDIF
/i
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, but 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.
Note: Servo gains have no affect on stepper output axis (ATYPE=46) and
MECHATROLINK position axis (ATYPE=40).
Arguments N/A
Example No example.
See also D_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, such as
ModbusTCP or FINS.
Note: byte0 is the high byte of the 32 bit IEEE floating point format.
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 communications link. 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 a=MPOS AXIS(2)
byte0 = IEEE_OUT(a, 0)
byte1 = IEEE_OUT(a, 1)
byte2 = IEEE_OUT(a, 2)
byte3 = IEEE_OUT(a, 3)
See also N/A
Type Program control command
Syntax IF condition_1 THEN commands {ELSEIF condition_i THEN commands}
[ ELSE commands ] ENDIF
IF condition_1 THEN commands