The configuration of the control loop for the motion control of the carriers is usually performed per segment. If you need to configure the control loop settings per carrier (instead of per segment), you can use the user function CarrierControlLoop.
Four boolean parameters enable different parts of control loop settings per carrier:
Mass of the carrier
Control loop gains
User current limit
Position deviation limits
Per default, the four parameters are Disabled and the corresponding carrier settings have no effect. When one or more of these parameters are set to Enabled, the corresponding control function uses the carrier-specific settings, independent of the segment on which the carrier is situated.
Some of the parameters are mapped to cyclic Sercos data and can be changed on-the-fly. The parameters that are not mapped to cyclic Sercos data can only be changed when the corresponding carrier is not moving.
The user function CarrierControlLoop is disabled by default. It must be enabled in the Feature Configuration tab of the object.