IFM Electronic Ecomat Mobile Series System Manual page 268

Controller functions in the ecomatmobile controller
Recommended setting
► Select TN according to the time characteristics of the system:
fast system = small TN
slow system = large TN
► Slowly increment KP gradually, up to a value at which still definitely no fluctuation will occur.
► Readjust TN if necessary.
► Add differential component only if necessary:
Select a TV value approx. 2...10 times smaller than TN.
Select a KD value more or less similar to KP.
Note that the maximum control deviation is + 127. For good control characteristics this range should
not be exceeded, but it should be exploited to the best possible extent.
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ifm System Manual ecomatmobile SmartController (CR2500) V05
Functions for controllers