Chapter D - Setting to work
Rev. A 10-99
DigiDrive Manual Series 2000 / 4000
Pg 59
Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com
3
3
D
IGITAL
PID
EQUATION
:
U
CM
Kp
i
e[ N]
N
Ki
( i
i
0
e[ i ]
( i
e[ N]
T)
Kd
i
e[ N
1
]
T
)
i
e[ N]
: Last sample
T
: Sampling time
The drive values are obtained with the following equations :
C
URRENT LOOP
P
ROPORTIONAL GAIN
(K
P
), A
DDRESS
6.
2000 series :
Kp
P
CURRENT
I
MAX
[V/A]
4000 series :
Kp
P
CURRENT
I
MAX
[V/A]
P
CURRENT
= Parameter 6
C
URRENT LOOP
I
NTEGRAL GAIN
(K
I
), A
DDRESS
7.
2000 series :
Ki
4000 series :
Ki
7500
I
CURRENT
I
MAX
7500
I
CURRENT
I
MAX
[V/As]
[V/As]
I
CURRENT
= Parameter 7
Summary of Contents for DigiDrive 2000 Series
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