![]() When programming in C or Visual Basic, use the flex_load_follow_err function. When using the FlexMotion API for LabVIEW, use the Load Following Error VI to set the number of counts allowed. In the Advanced Trajectory Parameters group, adjust the value labeled Following Error. Also, when commanding moves using the 1-D Interactive or 2-D Interactive screens in MAX, navigate to the Advanced tab at the bottom of the screen. To do this, go to Devices and Interfaces»PCI-73xx✽efault 73xx Settings✺xis x»Trajectory Settings. In MAX, the following error can be set for each axis. Instead, this setting needs to hold the corresponding number of counts read by the controller, which is four times that resolution.Ĭhanging the maximum allowed following error Kp, Ki and Kd were respectively with the values of proportion, integral, and the differential coefficient. From eq (1), e(t) is position error value difference between set angle and output measured angle(actual angle), u(t) is PWM signal for DC motor and y(t) is the actual angle. When setting the Encoder Counts Per Revolution input in Measurement & Automation Explorer (MAX), it is common to mistake this value for the encoder's physical resolution. PID equation is calculated to get the control signal for DC motor. This feedback, read from either analog voltage or pulse-train encoder signals, indicates the actual position/velocity of the motor. Additional InformationNI 73xx motion controllers contain an on-board PID control loop that allows them to use position and velocity feedback to adjust their command signal.
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