PID header

The PID function and the values of PID parameters are defined in the header file AxisConfiguration.h. Notice the following:

• The values we provide are examples. You should find the best PID settings for your axis.
• The values we provide are for velocity mode.

In AxisConfiguration.h, your PID code should be as follows:

            #pragma once

/* Velocity PID */
/*We do not provide the Torque PID sample as there are no default values
  in torque modes. The axes needs to be tuned.*/
//Communication delay used for the error calculation.
//With DC enabled the normal value for EtherCAT is 3 cycles.
#define FEEDBACK_DELAY 3

//Proportional Gain.
#define KP 1

//Integral Gain.
#define KI 0

//KI Term Limit.
//Percent for Torque and Percent of MaxOutput for Velocity.
#define KI_LIMIT_PERCENT 0

//Derivative Gain.
#define KD 0

//Velocity Feedforward Gain.
#define KV 1

//Acceleration Feedforward Gain.
#define KAA 0.003

//Deceleration Feedforward Gain.
#define KAD 0.003

//Jerk Feedforward Gain.
#define KJ 0

//Delay in Seconds after which the reduced gain factor is applied to KP and KD terms.
#define REDUCED_GAIN_DELAY 0.2

//Factor applied to the KP and KD terms after the delay expired.
#define REDUCED_GAIN_FACTOR 0.1

//Only apply the KI term after the interpolation is done.
#define KI_STOPPED_ONLY TRUE

//Used the secondary encoder to calculate the error used by the KD term.
#define KD_USE_INTERNAL_ENCODER FALSE  

//The drive will not move if its velocity is less than this value.
//This is only useful in velocity control modes if the drive clamps small velocity to zero.
#define MINIMUM_OUTPUT 0

//Maximum value sent to the drive.
#define MAXIMUM_OUTPUT 5000	

//Enable monitoring of maximum error of the position lag.
#define POSITION_LAG_MONITORING FALSE

VOID UpdatePID(int Index);