Rockwell-automation 1771-QB Linear Pos. Bedienungsanleitung PDF herunterladen (Seite 100)

Formatting Module Data (WRITES)

Chapter 7

721

Figure 7.27

Gain

Factor W

ord

50070

Gain factor,

BCD or binary

0.00 to 9.99

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

0000

The gain factor must be less than 10.0. If you set it to zero, the proportional gain

won’t be reduced or increased at any axis speed.

Example: To increase a proportional gain to 0.5 from 0.1 at speeds above the

gain break speed:

gain factor = desired gain/proportional gain

= 0.5/0.1

= 5.00

Integral Gain (words 20 and 49)

The integral gain factor K

is used by the integral component during final axis

positioning, i.e., when the desired velocity is zero and the axis is in the PID

band.

Figure 7.28

Integral

Gain W

ord

50071

Integral gain,

BCD or binary

0.9999 (ips/s) /mil or 0.9999 (mmps/s) /mil

(1 mil = 0.001 inch or 0.001 millimeter.)

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

The module uses integral control to improve final positioning accuracy by

making the system sensitive to the duration of positioning errors. If a

positioning error exists, the integral term continues to alter the analog output

until the axis overcomes inertia and reaches an accurate position.

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Rockwell-automation 1771-QB Linear Pos. Bedienungsanleitung Seite 100