Installation guide

Keyword Reference Guide
MN1270 02.2002 91
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0
-8388607.0 ≤ x ≤
8388607.0
Description:
The
HTAKINT keyword is used to set the gain term in the Hold To Analogue algorithm. The algorithm
used to minimize error is:
inIntegralGasSumOfErrorDampingErrorGainErrorVelocity ×+×∆+×=
HTAKINT sets the IntegralGain term in the above equation. A negative number can be used to reverse
the move direction of the Hold To Analogue move. Under normal circumstances, it is assumed that if
the current analog value is lower than the desired hold value, that a positive direction move is required.
If the
HTADAMPING, HTAKPROP and HTAKINT terms are of opposite signs, then this changes the
behavior of the algorithm.
If an HTA deadband is used then the integrator is set to zero when the analogue value falls within the
deadband. The integrator is also zeroed when the integral gain term is changed.
Example:
HTAKINT[2] = 0.01 : REM Set a HTA integral gain of 0.01
See also:
HTA, HTADAMPING, HTAKPROP
HTAKPROP/HKP
Purpose:
Specifies the proportional gain term used in the Hold To Analog force loop.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
HTAKPROP [axes] = <expression> {,<expression> ...}
v = HTAKPROP [axes]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0
-8388607.0 ≤ x ≤
8388607.0
Description:
The
HTAKPROP keyword is used to set the gain term in the Hold To Analog algorithm. The algorithm
used to minimize error is:
inIntegralGasSumOfErrorDampingErrorGainErrorVelocity ×+×∆+×=
HTAKPROP sets the Gain term in the above equation. A negative number can be used to reverse the
move direction of the Hold To Analog move. Under normal circumstances, it is assumed that if the
current analog value is lower than the desired hold value, that a positive direction move is required. If a
negative direction move is required in this situation then the
HTADAMPING and HTAKPROP terms should
both be negative numbers.