Parker Hannifin 88-021610-01G - Manual (Page 141)

Parker Hannifin
Chapter 6 Command Reference 141
error has persisted long enough during the transient period (time taken to
reach the setpoint), the control signal generated by the integral action can
end up too high and saturate to the maximum level of the drive's analog
control signal output. This phenomenon is called integrator windup
After windup occurs, it will take a while before the integrator output returns to
a level within the limit of the controller's output. Such a delay causes
excessive position overshoot and oscillation. Therefore, the integral windup
limit (SGILIM) command is provided for you to set the absolute limit of the
integral and, in essence, turn off the integral action as soon as it reaches the
limit; thus, position overshoot and oscillation can be reduced.
SGP Servo Gain Proportional
Type Tuning Product Rev
Syntax <a_>SGP<i> Aries 2.0
Units i = gain value
Range Ш.ШШ to 1Ш0Ш.ШШ
Default Ш.6Ш
Response SGP: <*>Ш.6Ш
See Also SGILIM , SGI , SGV , PGAIN
This command is only valid in DMODE4 (velocity mode) and DMODE6 or 7
(position mode). SGP allows you to set the gain of the proportional term in the
servo control algorithm. The output of the proportional term is proportional to
the difference between the commanded position and the actual position read
from the feedback device. The primary function of the proportional term is to
stabilize the system and speed up the response. It can also be used to
reduce the steady state position error.
When the proportional gain (SGP) is used alone (i.e., the other gain terms are
set to zero), setting this gain too high can cause the system to become
oscillatory, under damped, or even unstable.
SGV Servo Gain Velocity
Type Tuning Product Rev
Syntax <a_>SGV<i> Aries 2.0
Units i = gain value
Range Ш.ШШ to 1ШШШ.ШШ
Default 1.4Ø
Response SGV: <*>1.4Ø
See Also SGILIM , SGI , SGP
This command is only valid in DMODE4 (velocity mode) and DMODE6 or 7
(position mode). SGV allows you to control the velocity feedback gain in the
servo algorithm. Using velocity feedback, the controller's output signal is
made proportional to the velocity, or rate of change, of the feedback device
position. Since it acts on the rate of change of the position, the action of this