Init Parameter

General

Name

Default value

Unit

Type

Control Value Type

Velocity

 

MC.EControlValueType

Control Value Type

Specifies the type of the controller's output variable. For example, Velocity means that the controller output is a velocity.

Control Parameter

Name

Default value

Unit

Type

Inverted Output

FALSE

 

BOOL

Proportional Gain (Kp)

0.0

[ControlVariableUnit]/[LoadUnit]

LREAL

Derivative Gain (Kd)

0.0

[ControlVariableUnit]/([LoadUnit]/s)

LREAL

Integral Gain (AI)

0.0

[ControlVariableUnit]/([LoadUnit]*s)

LREAL

Integrator Lag Window Minimum

#Ignore

[LoadUnit]

LREAL

Integrator Lag Window Maximum

#Ignore

[LoadUnit]

LREAL

Inverted Output

The parameter Output Inverted can reverse the sign of the output variable.

WARNING

Risk of injury from unexpected movements

If the controller's output is not properly matched to the controlled system, the axis may move unexpectedly.

  • When commissioning the system, make sure that the drive's direction of rotation is set correctly.
  • Always maintain a safe distance.

Proportional Gain

The proportional gain (Kp) is multiplied by the current control error, resulting in a term in the controlled variable.

Derivative Gain

The derived gain (Kd) is multiplied by the derivative of the error, resulting in a term in the controlled variable.

Integral Gain

The integral gain (Ki) is multiplied by the integral of the control error, resulting in a term in the controlled variable.

Integrator Lag Window Minimum

If the actual load delay is less than the Integrator Lag Window Minimum, the integrator does not change. The value must be greater than or equal to 0.0 and less than or equal to Integrator Lag Window Maximum.

Integrator Lag Window Maximum

If the actual load delay is greater than the Integrator Lag Window Maximum, the integrator does not change. The value must equal or greater 0.0.

Output Limitation

Name

Default value

Unit

Type

Integrator Minimum Output

#Ignore

[ControlVariableUnit]

LREAL

Integrator Maximum Output

#Ignore

[ControlVariableUnit]

LREAL

Minimum output

#Ignore

[ControlVariableUnit]

LREAL

Maximum output

#Ignore

[ControlVariableUnit]

LREAL

Integrator Minimum Output

Minimum output of the integrator. The value Integrator Minimum Output must be less than or equal to the value Integrator Maximum Output.

Integrator Maximum Output

Maximum output of the integrator. The Integrator Maximum Output value must be greater than or equal to the Integrator Minimum Output value.

Minimum output

Minimum output of the controller. The Minimum Output value must be less than or equal to the Maximum Output value.

Maximum output

Maximum output of the controller. The Maximum Output value must be greater than or equal to the Minimum Output value.