Hypertherm HTA Rev 6.00 Install Guide - Manual (Page 74)

62 Installation & Setup Guide
Dual Gantry
The following setup screen is available if the control is configured for a Dual Gantry Axis.
The Dual Gantry Axis is commanded as a separate axis on the control that mirrors the output of the
main Rail Axis. Additionally, performance of the Dual Gantry Axis is compared to the main Rail Axis
and additional output command is given to keep the axis in position.
The definitions for the setup parameters are the same as for the Transverse/Rail Axes. However, the
number of selections are reduced as features for overtravels and homing do not apply.
Speed 0 To
This parameter allows the technician to input selected speed ranges to customize the gains for the
various speeds selected. Note: These speed parameters are directly tied to the Speed To field for
the acceleration rates previously noted on the Speeds setup screen. Changing these speed
parameters will replace the Speed To values entered at the Speeds setup screen.
Proportional Gain
Proportional Gain correlates to Elastic Stiffness in the control loop. Increasing the proportional gain
increases the static stiffness, but decreases response of the servo loop.
Under proportional loop control the drive system will apply a restoring torque to the motor in
proportion the position error of the axis.
With a Proportional Gain too high, the system will be unstable which will result in overshoots, and a
generally “nervous” and shaky axis. This is also referred to as a “hot” control loop.