AS Series Programming Manual Suggestions 1. Since you can use the 32-bit instruction in a lot of controlled environments, you must choose the appropriate control function. For example, to prevent improper control, do not use PID_MODE in the motor controlled environment when it is set to 1. 2. When you tune the parameters Kc_Kp , Ti_Ki , and Td_Kd (PID_MODE is set to 0), you must tune KP first (based on experience), and then set Ti_Ki and Td_Kd to 0. When you can handle the control, you can increase Ti_Ki and Td_Kd . When Kc_Kp is 1, it means that the proportional gain is 100%. That is, the error value is increased by a factor of one.
When the proportional gain is less than 100%, the error value is decreased. When the proportional gain is larger than 100%, the error value is increased. 3. To prevent the parameters that have been tuned automatically from disappearing after a loss of power, you must store the parameters in the latched data registers when PID_MODE is set to 1. The parameters that have been automatically tuned are not necessarily suitable for every controlled environment. Therefore, you can modify the automatically tuned parameters; however, it is suggested that you only modify the Ti_Ki and the Td_Kd. 4.
You can use this instruction with many parameters, but to prevent improper control, do not set the parameters randomly. _6 6-210