Init Parameter

General

Control Value Type

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

Enabled

Enabled indicates whether the position controller is being used or not. The controller output is 0.0 when it is disabled.

Velocity Feed-Forward Factor

The product of Velocity Feed Forward Factor and the velocity setpoint is added to the sum of P, I, and D to produce the controlled variable.

Control Parameter

Proportional Gain (Kp)

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

Derivative Gain (Kd)

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

Integral Gain (AI)

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

Integrator Threshold Minimum Velocity

The integrator does not change if the actual velocity is less than the minimum velocity. The minimum velocity must be less than or equal to 0.0.

Integrator Threshold Minimum Velocity ≤ 0,0

Integrator Threshold Maximum Velocity

The integrator does not change if the current velocity is greater than the maximum velocity. The maximum velocity must be greater than 0.0.

Integrator Threshold Maximum Velocity > 0,0

Integrator Lag Window Minimum

The integrator does not change if the actual delay falls outside this interval. The value for the integrator's minimum delay must be greater than 0.0.

Integrator Lag Window Minimum > 0,0

Integrator Lag Window Maximum

The integrator does not change if the actual delay falls outside this interval. The value for the integrator's maximum delay must be greater than the minimum delay.

Integrator Lag Window Maximum > Integrator Lag Window Minimum