Galil Motion Control DMC-1000 - Page 162

DMC-1000 Chapter 10 Theory of Operation • 143
KD = D/ (4 • T)
Assuming a sampling period of T=1ms, the parameters of the digital filter are:
KP = 20.6
KD = 68.6
The DMC-1000 can be programmed with the instruction:
KP 20.6
KD 68.6
In a similar manner, other filters can be programmed. The procedure is simplified by the following
table, which summarizes the relationship between the various filters.
Equivalent Filter Form
DMC - 1000 -18
Digital D(z) = K(z-A/z) + Cz/(z-1 )
Digital D(z) = 4 KP + 4 KD(1-z
-1
) + KI/2(1-z
-1
)
KP, KD, KI K = (KP + KD)
⋅
4
A = KD/(KP+KD)
C = KI/2
Digital D(z) = 4 GN(z-ZR)/z + KI z/2(z-1)
GN, ZR, KI K = 4 GN
A = ZR
C = KI/2
Continuous G(s) = P + Ds + I/s
PID, T P = 4 KP
D = 4 T*KD
I = KI/2T
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