Installation guide

Keyword Reference Guide
MN1270 02.2002 89
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
HTADAMPING[axes] = <expression> {,<expression> ...}
v = HTADAMPING[axis]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0
-8388607.0 ≤ x ≤
8388607.0
Description:
The
HTADAMPING keyword is used to set the damping term in the Hold To Analog algorithm. The
algorithm used to minimize error is:
inIntegralGasSumOfErrorDampingErrorGainErrorVelocity ×+×∆+×=
HTADAMPING sets the Damping 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.
Example:
HTADAMPING = 10.0 : REM Set HTA damping on axis 0 to 10
See also:
HTA, HTAKINT, HTAKPROP
HTADEADBAND/HDB
Purpose:
Specifies the analog error deadband.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
  
Format:
HTADEADBAND[axes] = <expression> {,<expression> ...}
v = HTADEADBAND[axis]
Dot Parameters:
Axis - Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0
0 ≤ x ≤ 100
Description:
In the Hold To Analog move, the error is calculated as the difference between the measured analog
value and the specified hold value. A deadband can be set up so that the system will only try and
reduce the error when it becomes larger than the size specified with the
HTADEADBAND keyword.
The deadband size is in analog counts. The value is specified as a positive number and is the maximum
size of the absolute analog error before the system will respond.