AW Gear Meters EMO-3000 - Manual (Page 42)

EMO‐3000
Operation and Programming Manual
41
Integral factor for PID A_KI (I‐part)
The integral factor is added to the analog output register as long as the set‐value is above the current
rate. Conversely, the integral part is deducted if the set‐value is below the current rate. This
adding/subtracting occurs every time new information is available. This variable is used in systems
where gain factors have to be kept small in order to avoid instability.
USED IN: PID mode.
RELATED VARIABLES: A_KD/A_KP
HEX ADDRESS: 00A1 HEX ‐‐‐‐> NEW LOCATION FOR THIS VARIABLE
BYTES: 2 Bytes DEFAULT: 0
ASC form COMMAND: reading = 115; writing = 515; E and N both have the same effect
value.
Derivative factor for PID A_KD (D‐part)
The derivative factor is used in applications where high gains (A_KP) are needed and instability is to be
avoided. The derivative factor takes effect if the rate approaches the set‐value, by slowing the approach
down. Like the gain factor, the derivative factor is usually determined by empiric means. Normal values
are 0 to 500.
USED IN: PID mode.
RELATED VARIABLES: A_KI/A_KP
HEX ADDRESS: 009F HEX ‐‐‐‐> NEW VARIABLE
BYTES: 2 Bytes DEFAULT: 0
ASC form COMMAND: reading = 114; writing = 514; E and N both have the same effect
value.
Delta step for PID
Delta step determines when a new variable is accepted into the scratch pad table. In general, when the
range the closed loop covers is very wide, the delta step should be relatively large. With the delta step, it
is possible to manipulate the adaption speed. Program this variable from 0 to 600 Hz.
USED IN: PID mode.
RELATED VARIABLES: A_KD/A_KP/A_KI