Trio Motion Coordinator Euro 205, Техническое справочное руководство

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6-10 System Setup and Diagnostics
Setting Servo Gains
Trio Motion Technology
Proportional Gain
Description The proportional gain creates an output voltage, Op that is proportional to the
following error E.
Op = Kp x E
Axis parameter is called
P_GAIN
Syntax:
P_GAIN=0.8
Note: All practical systems use proportional gain, many use this gain parameter
alone.
Integral gain
Description
The Integral gain creates an output Oi that is proportional to the sum of the
errors that have occurred during the system operation.
Oi=Ki x SE
Integral gain can cause overshoot and so is usually used only on systems work-
ing at constant speed or with a slow acceleration.
Axis parameter is called
I_GAIN
Syntax:
I_GAIN=0.0125
Derivative gain
Description This produces an output Od that is proportional to the change in the following
error and speeds up the response to changes in error whilst maintaining the
same relative stability.
Od = Kd x DE
This gain may create a smoother response. High values may lead to oscillation.
Axis parameter is called
D_GAIN
Syntax:
D_GAIN=5