Magnavox W-10CR Installationsanleitung Seite 204
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188 Programming Commands
KP Servo Parameter
ACTION: Sets or returns the proportional gain of the servo axis.
PROGRAM SYNTAX: KP(axis)=number cr
KP=number1, ... , number8 cr
KP(axis) cr
KP cr
REMARKS: See Programming Command KP.
EXAMPLES: KP(2)=20
Sets the Proportional gain of axis 2 to 20 millivolts/encoder count.
KP=18,,20
Sets the Proportional gain of axis 1 to 18 millivolts/encoder count, axis 2 is
unchanged and axis 3 is set to 20 millivolts/encoder count.
KP(2)
Returns the Proportional gain of axis 2.
KP
Returns the Proportional gain of all assigned axes.
KVFF Servo Parameter
ACTION: Sets or returns the velocity feed forward gain for the servo axis.
PROGRAM SYNTAX: KVFF(axis)=number cr
KVFF=number1, ... , number8 cr
KVFF(axis) cr
KVFF cr
REMARKS: See Programming Command KVFF.
EXAMPLES: KVFF(2)=95
Sets the Velocity feed forward gain of axis 2 to 95%.
KVFF=98,,95
Sets the Velocity feed forward gain of axis 1 to 98% , axis 2 is un-
changed and axis 3 is set to 95%.
KVFF(2)
Returns the Velocity feed forward gain of axis 2.
KVFF
Returns the Velocity feed forward gain of all assigned axes.
- PRICE: $50.00 1
- ENGINEERING CHANGES 2
- Revision Date Description 2
- Table of Contents 3
- SECTION & TITLE 6
- Table of Contents v 7
- Table of Contents vii 9
- 8 – FOLLOWING 10
- List of Illustrations 13
- Section 1 17
- Important 17
- Safety Information 17
- 1.1 – Cautions and Warnings 18
- Section 2 19
- Introduction 19
- How To Use This Manual 20
- Section 3 21
- Quick Start 21
- Installation Guide 21
- 3.2.1 - Bench Set Up 23
- System 24
- 3.3 - Installation 25
- 3.4 - WIRING THE CONTROLLER 25
- FOR OPERATION 25
- SECTION 4 27
- OVERVIEW OF 27
- SYSTEM OPERATION 27
- 4.1 – Features and Functions 28
- Overview 15 31
- 16 Overview 32
- Section 5 33
- Specifications 33
- Equivalent Circuits 33
- 5.3 – Input Power 34
- 5.4 – MX2000 System 34
- MX 2000 System 35
- 5.5 -Dual Axis Interface Card 36
- 5.5.3 –Encoder Connectors 37
- 5.5.4 – Axis I/O Connectors 38
- Dual Axis Interface 39
- Analog Drive Connector 40
- Board ID Board ID 41
- Axis Labels 41
- 5.6.1 – Auxiliary Serial Port 42
- 5.6.2 – Host Serial Port 43
- 28 Specifications 44
- 5.6.3 – DSP Card Inputs 45
- 30 Specifications 46
- 5.7 – Expansion I/O Board 47
- 32 Specifications 48
- BCD assignments 49
- 34 Specifications 50
- I/O POINT 51
- 5.8 – Digital I/O Board 52
- 5.8.1 – Input Connector 52
- 5.8.2 – Output Connector 53
- 5.8.3 – Internal Power Supply 54
- Digital I/O 55
- 5.9.1 – AC Input 56
- 5.9.3 – BCD assignments 56
- 5.10.1 – AC Input 57
- 5.10.2 – Input Connector 57
- 5.10.3 – Output Connector 57
- 5.11 – MX8 Power Supply Board 58
- 5.11.1 – AC Input 58
- 5.12 – MX2 Outline 59
- 5.13 – MX6 Outline 60
- 5.14 – MX8 Outline 60
- Specifications 45 61
- 46 Specifications 62
- SECTION 6 63
- Motion Controller 63
- Programming Interface 63
- 6.1.4 - References 65
- Motion Controller Programming 66
- Interface 66
- 6.3.5 – The Task Editor 67
- Edit Menu 68
- 6.3.5.1 – Document settings 68
- 6.3.5.2 - Editor Tool Box 69
- 6.3.6 – Terminal Emulation 69
- 6.3.6.1 – Configuring Buttons 69
- 6.3.7.2 – System Folder 70
- Mechanical home 72
- Mark registration 72
- Download 73
- Download Project 73
- Upload Source 73
- Download Operating System 73
- 6.3.10.2 – Utility Menu 74
- 6.3.10.3 – Window Menu 74
- 6.3.10.4 – Help Menu 74
- Section 7.0 75
- Software Reference 75
- Axis Related Command Syntax 77
- Example: COMMAND(x+2) 77
- COMMAND(n [,m] ) 78
- Programming Commands 63 79
- 64 Programming Commands 80
- Programming Commands 65 81
- 66 Programming Commands 82
- Programming Commands 67 83
- 68 Programming Commands 84
- Programming Commands 69 85
- 70 Programming Commands 86
- Programming Commands 71 87
- 88
- ^ Bitwise Operator 88
- >> Bitwise Operator 89
- ABS Mathematics Function 89
- 74 Programming Commands 90
- Programming Commands 75 91
- Programming Commands 77 93
- ARC Motion Parameter 94
- ATN Mathematics Function 95
- BOOST Motion Parameter 96
- Programming Commands 81 97
- 82 Programming Commands 98
- COMMON Miscellaneous Command 99
- COS Mathematics Function 99
- 84 Programming Commands 100
- Programming Commands 85 101
- 86 Programming Commands 102
- 88 Programming Commands 104
- Programming Commands 89 105
- 90 Programming Commands 106
- Programming Commands 91 107
- 92 Programming Commands 108
- Programming Commands 93 109
- 94 Programming Commands 110
- Programming Commands 95 111
- 96 Programming Commands 112
- Programming Commands 97 113
- 98 Programming Commands 114
- Programming Commands 99 115
- 100 Programming Commands 116
- Programming Commands 101 117
- 102 Programming Commands 118
- FOLMOVE Following Parameter 119
- FOLOFFSET Following Parameter 120
- Programming Commands 105 121
- 106 Programming Commands 122
- Programming Commands 107 123
- 108 Programming Commands 124
- Programming Commands 109 125
- 110 Programming Commands 126
- Programming Commands 111 127
- 112 Programming Commands 128
- Programming Commands 113 129
- ELSE...END IF 130
- IN I/O Function 131
- 116 Programming Commands 132
- Programming Commands 117 133
- 118 Programming Commands 134
- Programming Commands 119 135
- 120 Programming Commands 136
- LCASE$ String Manipulation 137
- LINE COMMAND CYCLE 138
- Programming Commands 123 139
- MID$ String Manipulation 140
- Programming Commands 125 141
- MOVE CYCLE 142
- Programming Commands 127 143
- 128 Programming Commands 144
- Programming Commands 129 145
- 130 Programming Commands 146
- Programming Commands 131 147
- 132 Programming Commands 148
- Programming Commands 133 149
- 134 Programming Commands 150
- Programming Commands 135 151
- 136 Programming Commands 152
- Programming Commands 137 153
- 138 Programming Commands 154
- Programming Commands 139 155
- 140 Programming Commands 156
- Programming Commands 141 157
- 142 Programming Commands 158
- Programming Commands 143 159
- 144 Programming Commands 160
- Programming Commands 145 161
- 146 Programming Commands 162
- Programming Commands 147 163
- 148 Programming Commands 164
- Programming Commands 149 165
- 150 Programming Commands 166
- Programming Commands 151 167
- 152 Programming Commands 168
- SPEED Change During Motion 169
- 154 Programming Commands 170
- Programming Commands 155 171
- TIMER Time Function 172
- Programming Commands 157 173
- 158 Programming Commands 174
- Programming Commands 159 175
- 160 Programming Commands 176
- Programming Commands 161 177
- 162 Programming Commands 178
- Programming Commands 163 179
- 164 Programming Commands 180
- Programming Commands 165 181
- 166 Programming Commands 182
- Programming Commands 167 183
- 168 Programming Commands 184
- Programming Commands 169 185
- 170 Programming Commands 186
- Programming Commands 171 187
- 172 Programming Commands 188
- Programming Commands 173 189
- 174 Programming Commands 190
- Programming Commands 175 191
- 176 Programming Commands 192
- Programming Commands 177 193
- 178 Programming Commands 194
- Programming Commands 179 195
- 180 Programming Commands 196
- Programming Commands 181 197
- 182 Programming Commands 198
- Programming Commands 183 199
- 184 Programming Commands 200
- Programming Commands 185 201
- 186 Programming Commands 202
- Programming Commands 187 203
- 188 Programming Commands 204
- Programming Commands 189 205
- 190 Programming Commands 206
- Programming Commands 191 207
- 192 Programming Commands 208
- Programming Commands 193 209
- 194 Programming Commands 210
- Programming Commands 195 211
- 196 Programming Commands 212
- Programming Commands 197 213
- 198 Programming Commands 214
- Programming Commands 199 215
- 200 Programming Commands 216
- Programming Commands 201 217
- 202 Programming Commands 218
- Section 8 219
- Following 219
- 8.1.2 - Following Ratio 221
- 8.1.3 - Follower Motions 221
- 8.1.5 - Advance/Recede cycle 223
- 8.1.5.3 - Offset Distances 223
- Command Syntax: 224
- 8.1.7 – Distance Measurements 225
- 8.1.8 - Cut to length Example 226
- 8.1.9.1 Rotating Knife Cycle 228
- Rotary Knife Cycle 229
- FOLOFFSETDIST 230
- Program Example 233
- ACTSPD Trajectory Parameter 234
- ENCSPD Trajectory Parameter 234
- FOLINPUT Following Parameter 235
- FOLDCCDIST 239
- Master Velocity100% 239
- If the FOLRATIO is changed 241
- FOLJOG Following Motion 242
- FOLMOVE Following Motion 243
- FOLMOVEREG Following Motion 244
- STOP Motion Parameter 245
- FOLSYNC Following Motion 245
- FOLMINRATIO=.1,,0 249
- 8.1.11 - Follower Exercise 254
- Section 9 259
- Servo Drive 259
- 9.1 - Servo Control 260
- Servo Block Diagram 260
- 9.1.1 - Servo Tuning 260
- 9.1.1.1 - System folder 260
- 9.1.1.2 - Encoder Folder 261
- 9.1.1.3 - Servo Drive Folder 261
- Servo Tuning environment 262
- 9.1.1.5 - Auto Tuning 263
- Response with Kvff = 0% 265
- Note reduction in error 265
- SHUTDOWN 266
- tune calculation 267
- View Logged Data 268
- Response with low Ki and 269
- Servo Drive 255 271
- PEAK CURRENT vs TIMEOUT 271
- FOLERR Motion Parameter 272
- INTLIM Servo Parameter 273
- IXT Servo Parameter 274
- KAFF Servo Parameter 275
- KD Servo Parameter 275
- KI Servo Parameter 276
- KP Servo Parameter 277
- KVFF Servo Parameter 278
- OUTLIMIT Servo Parameter 278
- STOPERR Motion Parameter 279
- WNDGS Motion Parameter 280
- Section 10 281
- Stepper Drive 281
- 266 Stepper Drive 282
- 10.4 - Encoder Folder 283
- 268 Stepper Drive 284
- BOOST Stepper Parameter 285
- 270 Stepper Drive 286
- LOWSPD Stepper Parameter 287
- REDUCE Stepper Parameter 288
- COMMAND SYNTAX: 289
- EXAMPLES: 289
- WNDGS Stepper Parameter 290
- Section 11 291
- Data Logging 291
- 11.1 - Data Logging 292
- 11.1.2 - Data Transfer 293
- 11.1.3 - View Data 293
- Section 12 295
- Environment 295
- 12.2 - Task Debugging 296
- 12.2.3 - Terminal Window 297
- 12.2.4 - Watch variables 297
- 282 Debug Environment 298
- Section 13 299
- Application Examples 299
- MX2000 Axis Card 300
- Analog inputs 300
- 13.1.2 - Example Description 301
- 13.1.3 - Main Section 301
- 13.1.4 - Teach section 301
- 286 Application Examples 302
- Application Examples 287 303
- 288 Application Examples 304
- Application Examples 289 305
- Arbitrary Continuous Motion 306
- 13.2.1 – E 307
- 13.3.1 – Example Program 308
- 13.4.1 –Example Program 309
- 294 Application Examples 310
- 13.5.1 – Example Program 312
- SECTION 14 313
- TROUBLESHOOTING 313
- SECTION 15 315
- GLOSSARY 315
- 316
- Glossary 301 317
- 302 Glossary 318
- ASCII Table 319
- 304 Glossary 320
- ECN# 84626 322
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