40
SETUP
5. PID Settings
5.1
ABOUT THE PID LOOP
The DSP6001 has PID adjustment capability for both the speed and torque modes to provide the
best system response. The PID Loop comprises the following three variables:
P = proportional gain
I = integral
D = derivative
Other important variables include:
• Set point - desired load or speed
• Error - difference between the set point and the actual measurement
5.1.1
p (p
roportionaL
g
ain
)
With proportional gain, the controller output is proportional to the error or to a change in measurement.
Deviation from the set point is usually present. Increasing the proportional gain will make the PID
loop unstable. Increasing the integral value will eliminate this instability. For best loop control, set
the proportional gain as high as possible without causing the loop to become unstable.
5.1.2
i (i
ntegraL
)
With integral, the controller output is proportional to the amount of time the error is present. Increasing
the integral value eliminates the offset from the set point. If the response becomes oscillatory
increase the derivative value.
5.1.3
D (D
eriVatiVe
)
With derivative, the controller output is proportional to the rate of change of measurement or error.
Derivative can compensate for a changing measurement. Derivative takes action to inhibit more
rapid changes of the measurement than proportional gain.
5.2
SETTING PID VALUES
5.2.1
H
ow
t
o
S
et
p (p
roportionaL
g
ain
) V
aLUe
1. Starting at the main menu press the P button.
2. Use the Decrease/Increase dial until the desired percentage is reached (ranges from 0-99).
5.2.2
H
ow
to
S
et
i (i
ntegraL
) V
aLUe
1. Starting at the main menu press the I button.
2. Use the Decrease/Increase dial until the desired percentage is reached (ranges from 0-99).
5.2.3
H
ow
to
S
et
D (D
eriVatiVe
) V
aLUe
1. Starting at the main menu press the D button.
2. Use the Decrease/Increase dial until the desired percentage is reached (ranges from 0-99).
