PI E-871.1A1N, Руководство пользователя, Страница: 36 / 226

0x1 P term Proportional constant of the PID servo algorithm.
Is used for fast correction of the position error.
0 to 32767
0x2 I term Integration constant of the PID servo algorithm.
Used for reducing static position error.
0 to 32767
0x3 D term Differential constant of the PID servo algorithm.
Used for damping rapid control oscillation.
The D term can be calculated as a floating
average over several servo cycles. The
parameter 0x71 (D-Term Delay) specifies how
many values (i.e., servo cycles) are to be used
for calculating the average.
0 to 32767
The preset value of this parameter should not be
changed.
0x4 I limit Limit of the integration constant.
0 to 32767
0x71 D Term Delay (No. Of
Servo Cycles) D term delay.
Determines how many values (i.e., servo cycles)
are used for calculating the mean value of the D
term.
0x5A Numerator Of The
Servo Loop Input
Factor Input factor numerator for the servo loop.
Decimal number
0x5B Denominator Of The
Servo Loop Input
Factor Input factor denominator for the servo loop.
Decimal number
0x94 Notch Filter Frequency
1 (Hz) Frequency of the first notch filter.
40 to 20,000 [Hz]
0x95 Notch Filter Edge 1 Edge steepness of the first notch filter.
Should not be changed.
0.1 to 10
4.9.8 On-Target State
In closed-loop operation, the on-target state can be used to check whether the target position
has been reached:
■
On-target state = true (1): The target position is considered as reached
■ On-target state = false (0): The target position is considered as not reached
The E-871.1A1N determines the on-target state on the basis of the following criteria:
■ Settling window around the target position (Settling Window (Encoder Counts) parameter
(0x36))
■
Delay time for setting the on-target state (Settling Time (s) parameter (0x3F))
The on-target state has the value true in the following cases:
■
The current position is inside the settling window and stays there at least for the duration
of the delay time.
■
If the value for the delay time is set to 0: The current position is in the settling window.
The on-target state can be read with the ONT? , #4 and SRG? commands.
4 PRODUCT DESCRIPTION PZ285EN
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1/30/2019
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