TERM
PROCESS
COEF DEFINITION
P
Proportional
Kp
Main correction process of the control loop.
I
Integral
Ki
Sum of past errors correction process. Improves the accuracy level.
D
Derivative
Kd
Correction process of error transitions. Improves the dynamic correction
ability.
8.3.2.1 Zero Speed PD Control
Zero speed process is used to overcome slip when mechanical brake open on start-up. PD coefficients
use in zero speed control. [C03] and [C04] parameters are coefficients of PD control on zero speed
control.
C03 ZERO SPEED Kp
Min: 1
Max: 200
Default: 16
Kp coefficient in Zero speed control.
C04 ZERO SPEED Kd
Min: 1
Max: 200
Default: 20
Kd coefficient in zero speed control.
8.3.2.2 Start Speed PI Control
Device only performs PI (Proportional and Integral) process on motion. Kp and Ti coefficients may differs
in high and low speeds. So system has different Kp and Ti parameters for start speed, low speed and high
speed.
C05 START SPEED Kp
Min: 0.1
Max: 100
Default: 24
Kp coefficient on PID process when reference speed is lower than Start Speed [S09] parameter.
C06 START SPEED Ti
Min: 0 ms
Max: 9999 ms
Default: 300 ms
Ti (1/Ki) coefficient on PID process when reference speed is lower than Start Speed [S09] parameter.
F/7.5.5.02.95 R:1
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AE-LIFT
