Saia PCD2.H310, Manual

Page: 78 / 154

Installation and commissioning PCD2.H31x
Page 9-12

SAIA-Burgess Electronics Ltd.
(2H3-09-E.DOC)
26/762 E2
Setting the proportional factor (kp):
1. Set a small proportional factor (experience recommends 10).
Integral and differential factors must be 0 (
→
straight P control-
ler).
2. Travel slowly with the axis (approach destination position or use
the 'GoForw'/'GoBackw' functions)
3. Increase the kp factor gradually until the control circuit starts to
pulse. Then reduce that value by approx. 30% and load it as the
kp factor. This sets the proportional factor and should not be
changed further for the time being.
Setting the integral factor (ki):
The ki factor is gradually increased until the desired settling time is
achieved for the position error. This sets the integral factor and should
not be changed further for the time being.
If excessive overshoot is noticed when approaching the destination posi-
tion, this may be due to the following:
•
The chosen rate of acceleration or braking is too high. The motor
cannot follow the setpoint.
→
Reduce acceleration.
•
The same behaviour can also result when the chosen velocity is too
high.
•
The chosen ki factor is too high.
•
Practice has shown that, if the integral factor is increased and the dif-
ferential factor is left at zero, the tendency of the controller to pulse
rises.
→
The differential factor should be increased simultaneously
with the integral factor to reduce overshoot.
Observing the integration sum (instruction 'RdIntSum') is a good way of
tracking such behaviour. During motion, if the integration sum adds up to
a high value, overshoot can be expected.
Action: - Reduce the above parameters.
- Limit the integration sum (instruction 'LdIntLim').