Galil DMC-2X00 用户手册

y 31  

For more damping, you can increase KD (maximum is 4095).  Increase gradually and stop after the 
motor vibrates.  A vibration is noticed by audible sound or by interrogation.  If you send the command 

 

TE A  <return>  Tell error 

a few times, and get varying responses, especially with reversing polarity, it indicates system vibration.  
When this happens, simply reduce KD. 

Next you need to increase the value of KP gradually (maximum allowed is 1023). You can monitor the 
improvement in the response with the Tell Error instruction 

 

KP 10 <return>  Proportion gain 

 

TE A <return>  Tell error 

As the proportional gain is increased, the error decreases. 

Again, the system may vibrate if the gain is too high.  In this case, reduce KP.  Typically, KP should 
not be greater than KD/4 (only when the amplifier is configured in the current mode). 

Finally, to select KI, start with zero value and increase it gradually.  The integrator eliminates the 
position error, resulting in improved accuracy. Therefore, the response to the instruction 

 

TE A  <return> 

becomes zero.  As KI is increased, its effect is amplified and it may lead to vibrations.  If this occurs, 
simply reduce KI.  Repeat tuning for the B, C and D axes.  

For a more detailed description of the operation of the PID filter and/or servo system theory, see 
Chapter 10 - Theory of Operation. 

Here are a few examples for tuning and using your controller.  These examples have remarks next to 
each command - these remarks must not be included in the actual program. 

This example assigns the system filter parameters, error limits and enables the automatic error shut-off. 

KP10,10,10,10 

Set gains for a,b,c,d (or A,B,C,D axes) 

KP*=10 

Alternate method for setting gain on all axes 

KPA=10 

Method for setting only A axis gain 

KP, 20 

Set B axis gain only 

 

OE 1,1,1,1,1,1,1,1 

Enable automatic Off on Error function for all axes 

ER*=1000 

Set error limit for all axes to 1000 counts 

KP10,10,10,10,10,10,10,10 

Set gains for a,b,c,d,e,f,g,and h axes 

KP*=10 

Alternate method for setting gain on all axes 

KPA=10 

Alternate method for setting A axis gain 

KP,,10 

Set C axis gain only 

KPD=10 

Alternate method for setting D axis gain 

KPH=10 

Alternate method for setting H axis gain