EDH0162En1040 – 06/99
2.26
MM4005
Local Mode
2.2.2.20
Kp
This parameter is the proportional gain factor of the digital PID filter. The
valid range is between 0 and 1. All standard motion devices offered with
the MM4005 have a set of conservative PID parameters stored in the con-
troller’s firmware. To change them you will need some knowledge of
motion control loops and the help of a software utility. For some general
guidelines read the Servo Tuning section.
To change the proportional gain factor Kp, press the
key. Use the
numeric keypad to enter a new value and then press
to accept the
setting and return to the previous menu.
Press the
key to advance to the next parameter.
→
→
→
→
→
→
→
→
→
KP
— Set proportional gain.
XP
— Read proportional gain factor.
2.2.2.21
Ki
This parameter is the integral gain factor of the digital PID filter. The valid
range is between 0 and 1. All standard motion devices offered with the
MM4005 have a set of conservative PID parameters stored in the con-
troller’s firmware. To change them you need some knowledge of motion
control loops and the help of a software utility. For some general guidelines
read the Servo Tuning section.
To change the integral gain factor Ki, press the
key. Use the numer-
ic keypad to enter a new value and then press
to accept the setting
and return to the previous menu.
Press the
key to advance to the next parameter.
→
→
→
→
→
→
→
→
→
KI
— Set integral gain.
XI
— Read integral gain factor.
QUIT
YES
QUIT
QUIT
VALID
1
4
7
2
5
8
3
6
9
.
-
0
Axis 1
Axis 2
Axis 3
Axis 4
JOG
MODIFY
UP
MODIFY
Axis Setup
1
4
7
2
5
8
3
6
9
.
-
0
Axis 1
Axis 2
Axis 3
Axis 4
JOG
M A N U
P R O G .
1 :
2 :
3 :
4 :
2
1
2 . 3 4
m
m
n
U
c o n
5 6
3
-
. 3 5
m
m
6
n e c t
L
A
H O M E
S
t
e
a c t i o n
l e c
M O V E
. 3 4 5
D e g
e d
UP
VALID
MODIFY
QUIT
YES
QUIT
QUIT
VALID
1
4
7
2
5
8
3
6
9
.
-
0
Axis 1
Axis 2
Axis 3
Axis 4
JOG
MODIFY
UP
MODIFY
Axis Setup
1
4
7
2
5
8
3
6
9
.
-
0
Axis 1
Axis 2
Axis 3
Axis 4
JOG
M A N U
P R O G .
1 :
2 :
3 :
4 :
2
1
2 . 3 4
m
m
n
U
c o n
5 6
3
-
. 3 5
m
m
6
n e c t
L
A
H O M E
S
t
e
a c t i o n
l e c
M O V E
. 3 4 5
D e g
e d
UP
VALID
MODIFY
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