Figura 2.17.3.1: Función Pid - Siei ARTDrive Manual Del Usuario

Feed-fwd PID
Gain
PID source
0
thr
PID source gain
1
thr2
PID offset 0 PID offs. sel.
0 Offset 0
PID offset 1
0
PID acc time
0 s
PID dec time
0 s
PID feed-back
0
Enable drive
Disable drive
+
+
S
PID feed-back
0
PID clamp PID error
10000
PI steady delay
0 ms
Steady
state PI P gain PID
10 %
P init gain PID
10 %
sign PID
Gain
Enable PI PID
Feed fwd sign:
+
+
pos gain = -1
T
ON
neg gain = +1
PI I gain PID
10 %
I init gain PID PI integr freeze
10 %
sign PID
PD P gain 1 PID
10 %
PD P gain 2 PID
10 %
Enable PD PID
PD P gain 3 PID
10 %
PD D gain 1 PID
1 %
PD D gain 2 PID PD D filter PID
1 %
PD D gain 3 PID
1 %
PI top lim
10
PI output PID
+
PI bottom lim
0
PI output PID
PI central v1
1
PI central v2
1
Off
PI central v sel
1
PI central v3
1
+
+
T
ON
Speed fbk sel
Encoder 1
Encoder 1 position
0 ms
Encoder 2 position
PID out scale
1
PID target
Gain
PID out. sign PID
Bipolar
S
+
PID output
Diameter calc st
Diameter calc
T
Minimum diameter
Gear box ratio
PI output PID
Diameter
calculator
Positioning spd
Max deviation
Dancer constant
0
1 cm
1
0 rpm
8000
1 mm