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Type: |
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Address: |
RMC75:
Gain Set #1: %MDn.128 where n = 12 + the axis number RMC150:
Gain Set #1: %MDn.128 where n = 24 + the axis number RMC200:
Gain Set #1: %MDn.230 where n = 384 + the axis number |
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System Tag: |
Gain Set #0: _Axis[n].PropGain Gain Set #1: _Axis[n].PropGain_2 where n is the axis number |
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How to Find: |
Axes Parameters Pane, All tab: Position/Velocity Control |
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Data Type: |
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Units: |
Position Control: %/pu Velocity control: %/(pu/sec) % = percent of maximum Control Output (default is 10V) |
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Range: |
≥ 0 |
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Default Value: |
1 |
Description
The Proportional Gain is the most important tuning parameter. It affects the responsiveness of the system. A low gain makes the system sluggish and unresponsive. A gain that is too high makes the axis oscillate or vibrate.
The Proportional Gain controls how much of the Control Output is added to the PFID Output due to the Position Error or Velocity Error for position or velocity control, respectively. Position control is defined as when the Current Control Mode is Position PID. Velocity control is defined as when the Current Control Mode is Velocity PID.
See the Tuning topic for details on how to properly adjust the Proportional Gain.
Each gain of the axis contributes to the Control Output. The contribution from the Proportional Gain is called the Proportional Output Term.
Advanced: I-PD Control
The Differential Gain controls how much the PFID Output is adjusted based on the change in the Actual Position or Actual Velocity for position or velocity control, respectively. Position control is defined as when the Current Control Mode is Position I-PD. Velocity control is defined as when the Current Control Mode is Velocity I-PD.
Mathematical Definition
The Proportional Gain units are: percent of the maximum Control Output per control unit (cu = position-units or velocity-units). The maximum Control Output is 10V, but can be changed using the Output Scale parameter.
Position PID
Dn = (PTargetn - PActualn) x KP
Velocity PID
Dn = (VTargetn - VActualn) x KP
Position I-PD
Dn = - (PActualn - PActualn-1 ) x KP
Velocity I-PD
Dn = - (VActualn - VActualn-1 ) x KP
where
Dn = Proportional Term at sample n [% of maximum Control Output]
P = Position [pu]
V = Velocity [pu/sec]
KP = Proportional Gain [%/(pu) or %/(pu/sec)]
pu = position-unit
See Also
Parameter Registers | Proportional Output Term |
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