Design Examples; Example 1 - System Set-Up; Example 2 - Profiled Move; Example 3 - Position Interrogation - Galil Motion Control DMC-14 5 Series Manual

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 <CR>
TE <CR>
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.
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
<CR>
becomes zero. As KI is increased, its effect is amplified and it may lead to vibrations. If this occurs,
simply reduce KI.
For a more detailed description of the operation of the PID filter and/or servo system theory, see
Chapter 10 Theory of Operation.

Design Examples

Here are a few examples for tuning and using your controller.

Example 1 - System Set-up

This example assigns the system filter parameters, error limits and enables the automatic error shut-off.
Instruction
KP 10
KD 100
KI 1
EO 1
ER 1000

Example 2 - Profiled Move

Objective: Rotate a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration
and deceleration rates of 100,000 counts/s
Instruction
PR 10000
SP 20000
DC 100000
AC 100000
BG
In response, the motor turns and stops.

Example 3 - Position Interrogation

The position of the axis may be interrogated with the instruction
28 Chapter 2 Getting Started
i
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Proportion gain
Tell error
Interpretation
Set proportional gain
Set damping
Set integral
Set error off
Set error limit
2
.
Interpretation
Distance
Speed
Deceleration
Acceleration
Start Motion
DMC-14x5/6