21
Parameters for Analogue (PID) Control (R50-R58)
R50 Speed (input in rpm, referred to Encoder)
The maximum speed is set in this Register, in rpm. The speed is monitored by
the Encoder speed (1 – 10000 rpm). Should there be gearing between motor and
Encoder, this must be considered in the calculation to set R50.
Example : Required motor speed in rpm = 3000
Gearing ratio i = 10
Therefore R50 = rpm/i = 3000/10 = 300
Edge multiplier and Multiplication factor must not be considered in the calculation ( see
example in section 9.3, page 31)
R51 Acceleration (Deceleration) (input in revs/sec2 referred to Encoder)
The acceleration is set in this Register in revolutions per second squared.
(see example in section 9.4. page 31)
R52 P Term (Proportional Amplification; setting 1 – 3000)
During operation, the difference between Target and actual positions will be multiplied
by the value of this Register and result in an Analogue output. The greater the
proportional amplification, the more responsive (eventually also unstable) will be
the system.
Hint : when using dc Servo-drives, the value should not exceed 20.
R53 I Term (Integral step, setting 1 – 1000)
During operation, the Analogue control voltage will continue to increase step by step,
until there is zero difference between Target and actual position. The maximum increase
in voltage is limited by R55. The greater the I term, the slower is the response.
R54 D Term (Differential voltage, setting 1 – 1000)
During operation, any small error in the output voltage will be compensated for by
increasing the voltage instantaneously, but without instability of the system.
The value of the instantaneous voltage is set in this Register (max +/- 10v =1000).
R55 I Limit (Integral Limit, setting 1- 1000)
The Integral voltage (R53) will only increase step by step up to a value as set in this
Register to prevent the Integral term becoming too large, should it not be possible for
some reason to reduce the error to zero.
NB: R55 must be set to a value greater than R53 !
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