NOTE
: The LED indicates present status of the device.
Status
LED Representation
Booting
LED flickers once
Factory Reset
LED flickers 4 times
Alarm
LED flickers
Slave Mode
LED flickers 3 times
Boot Mode
LED On
2. 4. 17. PID Gains (26, 27, 28)
MX series will use the PID controller as a main control method.
P gain
: value of proportional band.
I gain
: value of integral action.
D Gain
: value of derivative action. Gains values are in between 0 ~ 254.
K
p
: P Gain / 8
K
i
: I Gain * 1,000 / 2,048
K
d
: D Gain * 4 / 1,000
The relationship between Compliance Slop and PID
Slope
P Gain
8
128
16
64
32
32
64
16
128
8
The less the P gain, The larger the back lash, and the weaker the amount of output near goal
position.
At some extent, it is like a combined concept of margine and slope.
It does not exactly match the previous concept of compliance. So it is obvious if you see the
