Chapter D - Setting to work
Rev. A 10-99
DigiDrive Manual Series 2000 / 4000
Pg 60
Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com
3
C
URRENT LOOP
D
IFFERENTIAL GAIN
(K
D
), A
DDRESS
8.
2000 series :
Kd
133
10
D
CURRENT
[Vs/A]
I
MAX
4000 series :
Kd
133
10
D
CUR
RENT
I
MAX
[Vs/A]
D
CURRENT
= Parameter 8
3.3.3 Speed Loop
See also section 4.3 of chapter D (How to set the speed loop parameters, page 67).
PID
SPEED LOOP CONTROLLER
:
D
IGITAL
PID
EQUATION
:
i
c
Kp
e[ N]
N
Ki
(
i
0
e[ i ]
T)
(
e[ N]
Kd
e[ N
1
]
)
T
e[ N]
: Last sample
T
: Sampling time
6
6
Summary of Contents for DigiDrive 2000 Series
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