Omron TJ2-MC64 - PROGRAMMING - Page 167

BASIC commands
PROGRAMMING MANUAL 161
Revision 1.0
3.2.224 P_GAIN
/i
3.2.225 PI
/i
3.2.226 PMOVE
/i
3.2.227 POS_OFFSET
/i
Type Axis parameter
Syntax P_GAIN
Description The P_GAIN parameter contains the proportional gain. The proportional out-
put contribution is calculated by multiplying the Following Error with the
P_GAIN parameter value. The default value of P_GAIN for MECHATRO-
LINK-II Speed axis (ATYPE = 41) is 131072. The default value for Flexible
axis Servo (ATYPE = 44) is 1.0.
The proportional gain sets the stiffness of the servo response. Values that are
too high will cause oscillation. Values that are too low will cause large Follow-
ing Errors.
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, VFF_GAIN.
Type Constant (read-only)
Syntax PI
Description The PI constant returns the numerical constant value of approximately
3.14159.
Arguments N/A
Example circum = 100
PRINT "Radius = "; circum/(2*PI)
See also N/A
Type Task parameter (read-only)
Syntax PMOVE
Description The PMOVE parameter contains the status of the task buffers. The parameter
returns TRUE if the task buffers are occupied, and FALSE if they are empty.
When the task executes a movement command, the task loads the movement
information into the task move buffers. The buffers can hold one movement
instruction for any group of axes. PMOVE will be set to TRUE when loading of
the buffers has been completed. When the next servo interrupt occurs, the
motion generator loads the movement into the next move (NTYPE) buffer of
the required axes if they are available. When this second transfer has been
completed, PMOVE is cleared to 0 until another move is executed in the task.
Each task has its own PMOVE parameter. Use the PROC modifier to access
the parameter for a certain task. Without PROC the current task will be
assumed.
Arguments N/A
Example No example.
See also NTYPE, PROC.
Type System parameter
Syntax POS_OFFSET=value
Description For Piezo Operation. This keyword allows a positive offset to be applied to the
output DAC signal from the servo loop. The offset is applied after the
DAC_SCALE function. An offset of 327 will represent an offset of 0.1 volts for
axis with servo output generated by a 16 bit DAC. It is suggested that as off-
set of 65% to 70% of the value required to make the stage move in an open
loop situation is used.
Arguments N/A
Example No example.