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3.3 TORQUE FILTER SETUP ........................................................................................................................................... 33
3.4 INSTRUMENTATION SETUP (SPEED) .................................................................................................................... 33
3.4.1 TACH A .......................................................................................................................................................... 35
3.4.2 QUAD DEG ................................................................................................................................................... 35
3.4.3 AI 1................................................................................................................................................................. 35
3.5 CONFIGURE COMMUNICATION ............................................................................................................................ 36
3.5.1 GPIB Address ................................................................................................................................................. 36
3.5.2 RS-232 Interface ............................................................................................................................................ 36
4. PID SETTINGS .................................................................................................................................. 37
4.1 ABOUT THE PID LOOP ............................................................................................................................................. 37
4.1.1 P (Proportional Gain) ..................................................................................................................................... 37
4.1.2 I (Integral) ...................................................................................................................................................... 37
4.1.3 D (Derivative) ................................................................................................................................................. 37
4.2 SETTING PID VALUES .............................................................................................................................................. 37
4.2.1 How To Set P (Proportional Gain) Value ....................................................................................................... 37
4.2.2 How to Set I (Integral) Value .......................................................................................................................... 37
4.2.3 How to Set D (Derivative) Value .................................................................................................................... 37
4.3 SETTING THE CORRECT PID’S FOR YOUR MOTOR .......................................................................................... 38
4.3.1 Setting the PID with an Unknown Motor or System ..................................................................................... 38
4.3.2 Setting the PID for Torque Control ................................................................................................................ 38
4.3.3 Setting the PID for Speed Control ................................................................................................................. 41
4.3.4 Setting the PID for Ramp Down .................................................................................................................... 43
5. ALARM SYSTEM .............................................................................................................................. 45
5.1 GENERAL INFORMATION ....................................................................................................................................... 45
5.1.1 Alarm Relay (IO Card Option) ...................................................................................................................... 45
5.1.2 Alarm Operation............................................................................................................................................. 46
5.1.3 Alarm Priority ................................................................................................................................................ 47
5.2 POWER ALARM ......................................................................................................................................................... 47
5.2.1 Instructions for Power Alarm Setup ............................................................................................................... 47
5.2.2 Power Alarm Action ....................................................................................................................................... 47
5.2.3 To Reset Power Alarm .................................................................................................................................... 48
5.3 GLOBAL POWER ALARM ........................................................................................................................................ 48
5.3.1 Instructions for Global Power Alarm Setup ................................................................................................... 48
5.3.2 Global Power Action ...................................................................................................................................... 49
5.3.3 to reset global power alarm ............................................................................................................................ 49
5.4 MAXIMUM SPEED ALARM .................................................................................................................................... 49
5.4.1 Instructions for Maximum Speed Alarm Setup .............................................................................................. 49
5.4.2 Maximum Speed Alarm Action ...................................................................................................................... 50
5.4.3 To Reset Maximum Speed Alarm .................................................................................................................. 50
5.5 MAXIMUM TORQUE ALARM ................................................................................................................................ 50
5.5.1 Instructions for Maximum Torque Alarm Setup ............................................................................................ 50
5.5.2 Maximum Torque Alarm Action .................................................................................................................... 51
5.5.3 To Reset Maximum Torque Alarm ................................................................................................................. 51
5.6 GLOBAL TORQUE ALARM ...................................................................................................................................... 52
5.6.1 Instructions for Global Torque Alarm Setup .................................................................................................. 52
5.6.2 Global Torque Action ..................................................................................................................................... 52
5.6.3 To Reset Global Torque Alarm ....................................................................................................................... 52
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