CONTREX CX-1200 - Manual (Page 143)

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POSITION LOOP P2/2
The Position Loop screen includes parameters for the loop-type selection, the PID parameters for the
Position Loop (Kp, Ki, Kd), and four tuning monitor parameters
Trim Authority
The trim contribution to the DAC output is limited to positive and negative Trim Authority (CP-333).
Integral Limit
The integral contribution to the trim term is limited to the positive and negative Integral Limit (CP-334). Integral Limit
(CP-334) can decrease the effects of integral windup or it can limit the maximum effect of the integral term.
DerivThd PL
Derivative Threshold PL (CP-328) is the minimum speed error that is required before the derivative term in the PID
algorithm gains influence. Increase the DerivThd PL (CP-328) to prevent the derivative term from acting on signal
noise.