Drive Configuration
Controller Tuning
Additive, Time Constant
:
Figure 53 shows the parameters used to configure the
PIDT1
controller if
Additive, Time Constant
is
selected. In this case the integral and derivative terms are weighted by the time constants
Tn
and
Tv
and the position error is multiplied by
Kr
(see also Figure 54).
The following table shows the equation of the two structures and how
Additive, Time Constant
is
transformed to
Additive, Gain
:
ServoDrive-SetupGuide_EP018
2022-08-25
61
/
83
Figure 52: Additive, Gain controller - the parametrization of this structure correspond to the controller register in
the Topology Tree.
Figure 53: Controller parameters with Additive, Time Constant selected.
Figure 54: Additive, Time Constant structure - the parameters are directly transformed to the gain-structure as used
in the Topology Tree.
