Download ACC-24E2S___________________________Axis Expansion

Accessory 24E2S
Note:
If Ix30 were set differently than the above calculation, then Ix32 would change
inversely. For instance, if Ix30 were twice the above calculation, then Ix32 would
be half its calculation.
Ix33 Motor x Integral Gain
Typically, this I-variable should be set to 0. The digital electronic loop does not present offsets or
disturbances, which need correction in the PMAC2.
It is possible that Ix33 might be set to force zero steady-state errors, if they are present with electronic
encoder feedback.
Ix34 Motor x Integration Mode
The default value of 1 is sufficient for this since usually Ix33 is set to zero. When Ix33 is set to 0, this Ivariable has no effect.
Ix35 Motor x Acceleration Feedforward Gain
This I-variable is set to 0. Typically, this value does not need to be changed. However, Ix35 might be
adjusted to compensate for the minor delays created by the electronics when accelerating the stepper.
The effect of adjusting Ix35 will be to reduce a slight following error during motor acceleration.
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Motor Parameter Setup for UMAC and MACRO