Set the pressure controller

Select load type

Pressure/force control can be activated via the PLC;
see Programming a PLC using function blocks

1. Double-click the Axis object (1).

2. Open the Init Parameter (2) tab.

3. Select Load Control Type (3) in the Additional Encoder group.
Set the pressure controller 1:

	For explanations of the parameters, see Values.

Enable the axis.
Move the axis to its end position or until it reaches the point of contact with the opposing force.
Start the pressure/force control.

4. Double-click the Load Controller object (1).

5. Open the Init Parameter (2) tab.

6. Optimize the control parameters (see also Init Parameter).
Set the pressure controller 3:

Possible measures:

If necessary, invert the control signal using Output Inverted.
Set Integral Gain and Derivative Gain to 0.0
Increase the Proportional Gain until the output signal begins to oscillate
Slight reduction of the Proportional Gain
If necessary, adjust the Derivative Gain to attenuate the control signal during setpoint jumps
Set Integral Gain to reduce the residual error in the target load
Limiting the Integrator Lag Window Minimum / Maximum of the I-component to prevent residual oscillation when holding the target load.
The recommended value for the Integrator Lag Window Minimum is 4 times the resolution of the pressure/force sensor.
The Integrator Lag Window Maximum is related to the residual lag error in pure P-control.