Content Preview
TB044 Rev4 Basic PID Parameter Values
Purpose
To provide optimum starting values for the Kp Ki and Kd parameters which are found in the PID
Configuration menu These figures represent the opt imum values based on motor size and drive current
The values for Kp and Ki should generally match the values listed below DC Kp = 1 Ki = 004 and AC
Kp = 2 Ki = 0 0125 Kd may be changed depending on your machine and the l oad that is on the motor
Note Always call Centroid and discuss the reasons for wa nting to change these parameters Improper
adjustment of these parameters can cause the motion of the machine to be rough and unstable and can
also cause the motors to run hot even though they may not actually be making heavy cuts ***Refer to
chart on back for AC motor PID settings***
CNC11 Torque Mode PID Settings
Motor Drive Current Kp Ki Kd Limit
Glentek 16inlb 6A 1 0 004 2 32000
Redcom 17inlb 9A 0 5 0 004 1 32000
Glentek 29inlb 12A 1 0 004 3 32000
Glentek 40inlb 15A 1 0 004 3 32000
CNC7 and CNC10 PID Settings
Motor Drive Current Kp Ki Kd Limit
Redcom 7inlb 3A 0 5 0 00391 5 32000
Redcom 10inlb 6A 0 5 0 00391 2 32000
Redcom 15inlb 9A 1 0 00391 15 32000
Redcom 17inlb 12A 1 0 00391 10 32000
SEM 29inlb 12A 1 0 00391 15 32000
SEM 40inlb 15A 1 0 00391 15 32000
SEM 40inlb 25A 1 0 00391 10 32000
To check your drives current rating look on the dr ive cover for a label with 2T 3T or 4T written on it
2T = 25amp
3T = 15amp
4T = 12amp
5T = 9amp
6T = 6amp
7T = 3amp
Common Drive Configurations
Knee mill M 15
Knee Knee Mill
M 400 Bed type mill
M 400* Bed mill 4 axis
M400 *
X 9 12 12 or 15** 12 or 15**
Y 9 12 12 or 15** 12 or 15**
Z 9 12 12 or 15** 12 or 15**
W 12 or 15** 12 or 15**
* In most cases all axes are either 12amp or 15amp except in cases as below
** In the case of a rotary 4th axis with smaller mo tor the 4th axis may be configured for 6 9amp
separately
Centroid AC Brushless Motor Configuration
* Kg Kv1 Ka are values to be set before autotune is performed autotune will then calculate values suited
to the application
**This is the value expected after autotune it is dependant on the pitch of the bal screw and the bel ting
Document History
Rev4 Created on 2014 04 30 by #270
Rev3 Created on 2013 11 04 by #270
Rev2 Created on 2011 10 20 by #240
Rev1 Created on 2009 05 17 by #001