Motion Coordinator Technical Reference Manual
Trio BASIC Commands 8-173
Axis Parameters
P_GAIN
Type:
Axis Parameter
Description:
The proportional gain sets the 'stiffness' of the servo response. Values that are too
high will produce oscillation. Values that are too low will produce large following
errors.
For a proportional gain Kp and position error e, its contribution to the output signal
is:
Op=Kp x e
Note:
P_GAIN
may be fractional values. The default value is 1.0. Servo gains have no
effect on stepper motor axes.
Example:
P_GAIN AXIS(11)=0.25
REG_MATCH
Type:
Axis Parameter (Read Only)
Description:
Indicates to a programmer the quality of the fit of a
RECORD
/
MATCH
sequence. A
value of 1 is returned if the fit is 100%.
Note:
See the
MATCH
command for an example of a complete recognition sequence.
REG_POS
Type:
Axis Parameter (Read Only)
Alternate Format:
RPOS
Description:
Stores the position at which a registration mark was seen on each axis in user units.
See
REGIST()
for more details.
Example:
A paper cutting machine uses a
CAM
profile shape to quickly draw paper through
servo driven rollers then stop it whilst it is cut. The paper is printed with a registra-
tion mark. This mark is detected and the length of the next sheet is adjusted by
scaling the CAM profile with the third parameter of the
CAM
command:
' Example Registration Program using CAM stretching:
' Set window open and close:
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