ADLINK Technology PCI-8254, User Manual

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Motion Control Theory 79
PCI-8254 / PCI-8258
Control circuit relevant axis parameter table:
Param.
No.
Axis parameter name Descriptions
Setup
range
Default
90h PRA_KP_GAIN PID controller proportional gain 0~65535 0
91h PRA_KI_GAIN PID controller integral gain 0~65535 0
92h PRA_KD_GAIN PID controller derivative gain 0~65535 0
93h PRA_KVFF_GAIN Velocity feedforward gain 0~65535 0
9Ah PRA_KAFF_GAIN Acceleration feedforward gain 0~65535 0
9Bh PRA_KP_SHIFT
Proportional gain shift;
Enlarge or contract 2
n
folds
31 ~ -31 -5
9Ch PRA_KI_SHIFT
Integral gain shift;
Enlarge or contract 2
n
folds
31 ~ -31 -15
9Dh PRA_KD_SHIFT
Derivative gain shift;
Enlarge or contract 2
n
folds
31 ~ -31 0
9Eh PRA_KVFF_SHIFT
Velocity feedforward gain shift;
Enlarge or contract 2
n
folds
31 ~ -31 0
9Fh PRA_KAFF_SHIFT
Acceleration feedforward gain
shit; Enlarge or contract 2
n
folds
31 ~ -31 0
A0h PRA_PID_SHIFT
PID control shift;
Enlarge or contract 2
n
folds
31 ~ -31 -5
120h PRA_SERVO_V_BIAS
Output voltage offset
(UOM: Volt)
0~10 0
123h PRA_SERVO_V_LIMIT Output voltage limit (UOM: volt) 0~10 10
125h PRA_SERVO_V_INVERSE
Output voltage inverse ;
1 : Yes 0 : No
0~1 0
12Bh PRA_INTEGRAL_LIMIT Integral limits 0~2147483647 2147483647