Specifications

Examples and tips
PROGRAMMING MANUAL 214
Revision 5.0
'Stop MECHATROLINK Section
'================================================
'THIS SECTION MUST BE MANUALLY SET BY THE USER
'ACCORDING TO THE APPLICATION. TYPICAL ACTIONS ARE
'VARIABLE INITIALIZATION, SERVO/AXIS SETTING, NAMING
'GLOBAL VARIABLES AND START THE "APPLICATION" PROGRAM.
'================================================
'Define Names for global variables
GLOBAL "project_status",100
GLOBAL "alarm_status",101
GLOBAL "action",102
'Initialize variables
VR(0)=0
project_status=0
alarm_status=0
action=0
'Start APPLICATION program
RUN "APPLICATION",2
STOP
5.1.2 Gain settings
The gain setting is related to the mechanical system to which the motor is
attached. There are three main concepts:
• Inertia ratio
• Rigidity
• Resonant frequency.
These concepts are described in the Hardware Reference Manual in the
chapter System Philosophy.
This section shows example parameter values for:
• Speed Loop Gain
• Proportional position gain
• Velocity Feed Forward gain.
The example values for the program and motion parameters in the Trajexia
system are given below. Note that they are appropriate for 13-bit encoders.
/i
/i
Drive Parameter value Description
Pn103 = 716 Inertia ratio
Pn110 = 0012 No autotuning
Pn202=1 Gear ratio numerator
Pn203=1 Gear ratio denominator
Motion Parameter values Description
UNITS =1 Working in encoder counts
SPEED=200000 Speed setting
ACCEL=1000000 Acceleration setting
DECEL=1000000 Deceleration setting
MOVEMENT=81920 10 Turns