Model Gain Positive

Type:	Axis Parameter Register
Address:	RMC75: %MDn.150, where n = 12 + the axis number RMC150: %MDn.150, where n = 24 + the axis number RMC200: %MDn.51, where n = 384 + the axis number
System Tag:	_Axis[n ].ModGainPos, where n is the axis number
How to Find:	RMC75/150:Axes Parameters Pane, All tab: Feedback → Filtering/Modeling RMC200:Axes Parameters Pane, All tab: Feedback → Model
Data Type:	REAL
Units:	RMC75/150: (pu/s)/volt RMC200: (pu/s)/%
Default Value:	RMC75/150: 1 RMC200: 0.1

Description

Note: The units differ between the RMC75/150 and RMC200, since the RMC75/150 Control Output is voltage, and the RMC200 Control Output is percent.

This parameter specifies the gain of the position feedback model in the positive direction. This means how fast the position will change for 1 volt or percent of Control Output. This parameter is valid for models with a Model Order of 0, 1, or 2. This parameter is valid only for position axes. For more details, see the modeling topic.

Changing this Parameter

On position axes, always change this parameter only from Axis Tools for best results. If the position feedback model is being used, it will be suspended until the last position feedback model parameter register has been updated (Time Constant [Fx:152] for first order or Damping Factor [Fx:153] for second order). At this point, the new feedback model will be calculated and the model will be activated.

Certain position model parameter settings may result in an invalid model. If this occurs, change your settings. See the modeling topic for more details.