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LC - Control Setting Parameters
Integral Offset Gain
The integral offset gain value is effective only at low speeds. This value
is added to the integral term gain in LC08 for acceleration and LC09 for
deceleration, to provide greater control and more stability.
During acceleration the offset gain value is tapered off beginning at the dened
Max. corner speed and reaches zero at the dened Min. corner speed where
only the integral itself is active. The corner speeds can be dened through
parameters LC13 and LC14 for acceleration.
During deceleration the offset gain begins to increase at the dened Min.
corner speed and is fully added to the integral at the dened Max. corner
speed. The corner speeds can be dened through parameters LC15 and LC16
for deceleration.
Integral + Offset
Integral
Offset
Speed for
Max. Integral
Offest
Speed for
Min. Integral
Offset
The LC15-16 corner speeds can be used to tailor the KI Offset gain to
a specic speed range at low speed. Worm gear applications require
a smaller KI Offset value but over a broader speed range, whereas a
gearless motor will require a much higher KI Offset value but at only
the very lowest speed. With these two parameters the Offset can be
tailored to the application. The default values are applicable to worm
gear applications.
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