Instruction Manual

206 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
FET
Following Error Time System
Purpose Change the Following Error Time limit used in the program. The Following Error
Time limit is the length of time that the following error may exceed the Following
Error Limit without causing a fault. The following error is checked every position loop
update (2mS).
Syntax FET = value
variable = FET
value The value is entered in seconds with a resolution of 2mS. The
value can be a constant, a nonvolatile variable Gn, a volatile
variable Vn, or a system variable.
variable The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also FEL, FE, PFE
Example
FET = 1.0
V3 = FET
FGAIN
Acceleration Feedforward Gain Gain
Purpose Set the acceleration feedforward gain.
Syntax FGAIN = value
variable = FGAIN
value The value is entered in percent of command velocity and may
be changed anywhere in a program. Value can be a constant, a
nonvolatile variable Gn, a volatile variable Vn, or a system
variable.
variable The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also KFF, IG, PG
Example
FGAIN = 10
FG = V9
V4 = FGAIN