Motion Control Theory
79
PCI-8254 / PCI-8258
Control circuit relevant axis parameter table:
Param.
No.
Axis parameter name
Descriptions
Setup
range
Default
90h
PRA_KP_GAIN
PID controller proportional gain
0~65535
0
91h
PRA_KI_GAIN
PID controller integral gain
0~65535
0
92h
PRA_KD_GAIN
PID controller derivative gain
0~65535
0
93h
PRA_KVFF_GAIN
Velocity feedforward gain
0~65535
0
9Ah
PRA_KAFF_GAIN
Acceleration feedforward gain
0~65535
0
9Bh
PRA_KP_SHIFT
Proportional gain shift;
Enlarge or contract 2
n
folds
31 ~ -31
-5
9Ch
PRA_KI_SHIFT
Integral gain shift;
Enlarge or contract 2
n
folds
31 ~ -31
-15
9Dh
PRA_KD_SHIFT
Derivative gain shift;
Enlarge or contract 2
n
folds
31 ~ -31
0
9Eh
PRA_KVFF_SHIFT
Velocity feedforward gain shift;
Enlarge or contract 2
n
folds
31 ~ -31
0
9Fh
PRA_KAFF_SHIFT
Acceleration feedforward gain
shit; Enlarge or contract 2
n
folds
31 ~ -31
0
A0h
PRA_PID_SHIFT
PID control shift;
Enlarge or contract 2
n
folds
31 ~ -31
-5
120h
PRA_SERVO_V_BIAS
Output voltage offset
(UOM: Volt)
0~10
0
123h
PRA_SERVO_V_LIMIT
Output voltage limit (UOM: volt)
0~10
10
125h
PRA_SERVO_V_INVERSE
Output voltage inverse ;
1 : Yes 0 : No
0~1
0
12Bh
PRA_INTEGRAL_LIMIT
Integral limits
0~2147483647 2147483647
Содержание PCI-8254
Страница 2: ...ii Revision History Revision Date Description 2 00 2014 08 13 First release ...
Страница 8: ...viii Table of Contents Important Safety Instructions 209 Getting Service 211 ...
Страница 12: ...xii List of Figures ...
Страница 14: ...xiv List of Tables ...
Страница 24: ...10 Introduction ...
Страница 54: ...40 Getting Start with The Installation ...
Страница 78: ...64 Signal Connection ...
Страница 111: ...Motion Control Theory 97 PCI 8254 PCI 8258 MCP2 Bode plot page ...
Страница 165: ...Motion Control Theory 151 PCI 8254 PCI 8258 Example Figure 4 55 Continuous interpolation examples ...
Страница 222: ...208 Motion Control Theory ...