Galil Motion Control DMC-21 5 Series User Manual page 139

D = KD · T
and
KD = D/T
Assuming a sampling period of T=1ms, the parameters of the digital filter are:
KP = 82.4
KD = 274
The DMC-21x5 can be programmed with the instruction:
KP 82.4
KD 274
In a similar manner, other filters can be programmed. The procedure is simplified by the following table, which
summarizes the relationship between the various filters.
Equivalent Filter Form - DMC-21x5
Digital
KP, KD, KI, PL K = (KP + KD)
Digital
Continuous
PID, T
Chapter 10 Theory of Operation ▫ 134
D(z) =[K(z-A/z) + Cz/(z-1)]· (1-B)/(Z-B)
A = KD/(KP+KD)
C = KI
B = PL
D(z) = [KP + KD(1-z -1 ) + KI/2(1-z -1 )] · (1-PL)/(Z-PL)
G(s) = (P + Ds + I/s) · a/(s+a)
P = KP
D = T * KD
I = KI / T
a = 1/T ln(1/PL)
DMC-21x5 User Manual 1.0a1