Kinetix 6000 PID controlled speed

[MartinK 0]

Hello everyone,

I have a Kinetix 6000 CIP drive (unwind) and I need to control its speed by a PID controller. I have everything working except the MCD instruction doesn't pick up on the PID output value change. It changes the JOG speed, which I use to control the unwind, if I set the speed manually, which is slow. The PID changes the speed almost continuously. Any suggestions are welcome.

This is how I'm attempting to control the speed: A1_r_JogSpeed = PID output value

 

Thank you

 

 

[MartinK 0]

Ok I've solved it by adding a "filter" but it seams like a crude solution. Surely there is a more, for the lack of a better word, "elegant" solution.

 

[BobLfoot 127]

You could consider removing the filter and the one shot and place this logic in a periodic task with a 25 ms or 50 ms period.

I would think changing the dynamics 20 times a second should be sufficient unless your speeds are really fast.