6.21 EDH0162En1040 – 06/99
MM4005 Feature Descriptions Tutorial
Integrator Factor Saturation Level in Position PID Loop Corrector: KS Command
The MM4005 controller uses a discrete PID anti-windup servo loop.
The xxKSnn command sets the saturation level of the PID integral factor.
This is evaluated by nn between 0 and 1 times the maximum possible level
of the output signal.
The Ks parameter (0 to 1) controls the integrator saturation level in the PID
loop. An excessive value of Ks implies the delayed effect on the controller
reaction to the command. Conversely, too small of a value eliminates the
integrator action. The optimal value is from 0.5 to 0.9.
6.21
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