Derivative action time of PID controller (P-AXIS-00765)

P-AXIS-00765

Derivative (D) action time of the PID controller

Description

This parameter weights the D component of the PID controller. The derivative action time defines the time after which the P and D components of the manipulated variable are equal. The derivative action time stabilises controller behaviour and reduces oscillations. The larger the derivative action time, the stronger the D component. Disable the D component by d_tv=0.

Parameter

kenngr.distc.d_tv

Data type

REAL64

Data range

0.0 <= d_tv <= 2.0

Axis types

T, R

Dimension

T: s

R: s

Default value

0.0

drive types.

SERCOS, Profidrive, CANopen

Remarks

To begin with, it is advisable to select a low initial value for the derivative action time setting to avoid instability in the control loop (e.g.: 0.01). You can then reduce the derivative action time step by step to obtain the effect you require.

This parameter is available as from Build 2809.06 or 3079.06.