Control Techniques M'Ax 403

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M’Ax User Guide 95
Issue Number: 4
Related parameters
Figure D-3 Software diagram for PID gains and buffers
SLM
Demand
Feedback
SLM PID
buffer 1
SLM PID
buffer 2
SLM PID
buffer 3
)
technology
Speed-loop
proportional gain Kp1
3.10
(0.13)
Speed-loop integral
gain Ki1
Speed-loop derivative
gain Kd1
Compliance
angle
Load inertia
PID gains 1
Speed-loop
proportional gain Kp2
3.13
Speed-loop integral
gain Ki2
3.14
Speed-loop derivative
gain Kd2
3.15
PID gains 2
Speed-loop
proportional gain Kp3
3.60
Speed-loop integral
gain Ki3
3.61
Speed-loop derivative
gain Kd3
3.62
PID gains 3
Current-demand filter 1
cut-off frequency
Current-demand filter 2
cut-off frequency
4.23
Current-demand filter 3
cut-off frequency
4.27
3.63
Speed-loop PID buffer
in use indicator
SLM buffer
update
11.63
SLM online
enable
11.64
(0.17)
Speed-loop PID
buffer 1 select
3.57
Speed-loop PID
buffer 2 select
3.58
Speed-loop PID
buffer 3 select
3.59
Speed-loop PID
gains selector
G
ains
c
alculation and
buffer updating
3.11
(0.14)
3.12
(0.15)
4.12
(0.16)
3
.16
(
0.12)
3.19
(0.09)
3.20
(0.10)
Symmetrical current
limit Kc1
4.07
(0.18)
Symmetrical current
limit Kc2
4.24
Symmetrical current
limit Kc3
4.28