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Media Pro 4000 Brief                 Date: February 16th 2000

  File: ASM-4030_Compliance_Feedback_Parameters_BR021600.txt
Module: ASM-4030, Firmware ASM43d11.cod
 Title: Tuning Screen Compliance Parameter Fields
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Addendum/Update, ASM-4030 Manual, Section 5 - Programming
Firmware ASM43d11.cod, Compliance Feedback
Tuning Parameter Fields: Offset, Stoke, P-Gain, V-Gain, A-CAl-, A-CAL+
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1) Offset 

   a) - Position Feedback Offset: Range 0 to 4095,
      Minimum Retract (amount to scale up data from bottom).

      1) This specifies the lowest position that the servo will
          generate for the desired position.

   b) - CMP - Single Bipolar Compliance Feedback: Range 0 to 2047,
      Decreases the compliance feedback by the amount specified here.

   c) - CM2 - Dual Unipolar Compliance Feedback: Range 0 to 4095,
      Decreases the drive in the negative direction
       (comp fb1) by the amount specified here.


2) Stroke

   a) - Position Feedback Stroke: Range 0 to 4095,
      Maximum Extend (Amount to scale down data from top).

      1) This specifies the highest position that the servo will
          generate for the desired position.

   b) - CMP - Single Bipolar Compliance Feedback: Range 0 to 2047,
      Increases the compliance feedback by the amount specified here.

   c) - CM2 - Dual Unipolar Compliance Feedback: Range 0 to 4095,
      Decreases the drive in the positive direction (comp fb2)
       by the amount specified here.


3) P-Gain

   a) - Proportional error Gain: Range 0 to 32K,
      This gain uses 32,767 as the maximum or 100% value of this gain.
     
      1) This is the direct error feedback or proportional gain multiplier.

      2) It is used to multiply the difference between the
          desired position and the feedback position. 

         a) Where the desired position is the command position
             generated by the use of the velocity and acceleration
             functions of the servo.

   b) - CMP & CM2 modes - Linear Compliance Gain: Range 0 to 32K

      1) When the port is the second port of a compliant pair,
          this P-Gain parameter provides the linear multiplier
          of the force feedback.


4) V-Gain

   a)  - Velocity feedback Gain: Range 0 to 32K,
       This gain uses a value of 32767 for 100% to give maximum damping. 

      1) This is the gain constant that is used to provide velocity
          feedback to the servo.

      2) It is the multiplier that is used with a velocity that
          is internally generated by a digital differentiation
          of the feedback position.

      3) Velocity feedback is generally provided by a tachometer
          in an analog servo system and it is used to dampen
          the response of the system.

   b) - CMP & CM2 modes - X2 Compliance Gain: Range 0 to 32K

      1) When the port is the second port of a compliant pair,
          this V-Gain parameter provides the multiplier for
          the square of the force feedback. 


5) A-Cal

   1) Note: These next two calibration constants (A-Cal+/-)
       are used to balance the force of hydraulic cylinder
       to compensate for the difference in area on the open
       and rod sides of the cylinder.
      
      a) They can also be used to compensate for the weight of the
          load when there is a vertical component on the cylinder.

   2) A-Cal(-) - Analog Calibration -: Range 0 to 32K,
       A value of 32,767 represents 100%.
      
      a) This is the calibration constant that scales the command
          output for drive in the negative direction.

      b) - CMP - Single Bipolar Compliance Feedback

         1) This parameter has no effect on the second port of the
             pair being used for single bipolar compliance.

      c) - CM2 - Dual Unipolar Compliance Feedback: - Range 0 to 32K.

         1) This calibration constant scales the input for the drive
             in the negative direction (comp fb1) on the second port
             of the pair being used for dual unipolar compliance.

   3) A-Cal(+) - Analog Calibration +: Range 0 to 32K,
       A value of 32,767 represents 100%.
      
      a) This is the calibration constant that scales the command
          output for drive in the positive direction.

      b) - CMP - Single Bipolar Compliance Feedback

         1) This parameter has no effect on the second port of the pair
             being used for single bipolar compliance.

      c) - CM2 - Dual Unipolar Compliance Feedback: - Range 0 to 32K.

         1) This calibration constant scales the input for the drive
             in the positive direction (comp fb2) on the second port
             of the pair being used for dual unipolar compliance.

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Specifications subject to change at any time.

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Anitech Systems Inc., 25021 Anza Drive, Valencia, CA  91355  USA
Phone (661) 257-2184     Fax (661) 257-2025
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