Manual

EMO‐3000
OperationandProgrammingManual
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41
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IntegralfactorforPIDA_KI(I‐part)
Theintegralfactorisaddedtotheanalogoutputregisteraslongastheset‐valueisabovethecurrent
rate.Conversely,theintegralpartisdeductediftheset‐valueisbelowthecurrentrate.This
adding/subtractingoccurseverytimenewinformationis
available.Thisvariableisusedinsystems
wheregainfactorshavetobekeptsmallinordertoavoidinstability.
USEDIN:  PIDmode.
RELATEDVARIABLES:  A_KD/A_KP
HEXADDRESS:  00A1HEX‐‐‐‐>NEWLOCATIONFO RTHISVARIABLE
BYTES:  2BytesDEFAULT:0
ASCformCOMMAND:  reading=115;writing=515;EandNbothhavethesameeffect
value.
DerivativefactorforPIDA_KD(D‐part)
Thederivativefactorisusedinapplicationswherehighgains(A_KP)areneededandinstabilityistobe
avoided.Thederivativefactortakeseffectiftherateapproachestheset‐value,byslowingtheapproach
down.Likethegainfactor,thederivativefactoris
usuallydeterminedby empiricmeans.Normalvalues
are0to500.
USEDIN:  PIDmode.
RELATEDVARIABLES:  A_KI/A_KP
HEXADDRESS:  009FHEX‐‐‐‐>NEWVARIABLE
BYTES:  2BytesDEFAULT:0
ASCformCOMMAND:  reading=114;writing=514;EandNbothhavethesameeffect
value.
DeltastepforPID
Deltastepdetermineswhenanewvariableisacceptedintothescratchpadtab le.Ingeneral,whenthe
rangetheclosedloopcoversisverywide,thedeltastepshouldberelativelylarge.Withthedeltastep,it
ispossibletomanipulatetheadaptionspeed.Programthis
variablefrom0to600Hz.
USEDIN:  PIDmode.
RELATEDVARIABLES:  A_KD/A_KP/A_KI