32-62 Integral gain
Range:
Function:
0
*
[1...100,000]
The integral gain is the factor that is multiplied with the inte-
grated PID tracking error to produce the integral part of the
output frequency. The main function of the integral part is to
provide zero steady-state tracking error. The higher the setting,
the faster the application will reach a zero steady-state tracking
error. The dynamic tracking error however increases with in-
creasing setting of this parameter.
NB!
Too high a setting of this parameter will cause the controller to become unstable.
32-63 Limit integral part
Range:
Function:
1,000
*
[0...100,000]
Here it is possible to clamp the integral part of the PID output.
A setting of 1000 corresponds to 100% of the maximum allowed
reference specified in parameter 303.
32-64 Limit PID output
Range:
Function:
1,000
*
[0...100,000]
Here it is possible to clamp the total output of the PID controller.
A setting of 1000 corresponds to 100 % of the maximum al-
lowed reference specified in parameter 303.
32-65 Feed Forward Velocity Gain
Range:
Function:
0
*
[0...100,000]
The velocity feed-forward gain is the factor that is multiplied
with the set-point (desired trajectory) velocity to produce the
feed-forward part of the output frequency. The function of the
feed-forward part is to provide a fast (and fairly accurate) start-
ing point for the calculation of the output frequency.
NB!
To get the fastest and most stable controller response this parameter should be set
optimally. For this purpose parameter 19-19 gives access to a function that auto-
matically calculates the optimal setting of this parameter.
32-66 Feed-forward acceleration gain
Range:
Function:
0
*
[0...100,000]
The acceleration feed-forward gain is the factor that is multi-
plied with the set-point acceleration to produce the feed-for-
ward part of the output frequency.
MCO351 Positioning Controller
4. Programming
MG.33.R1.02 - VLT
®
is a registered Danfoss trademark
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