Kelly PID Parameters

[NoSmoke]

In Kelly's documentation for the KLS-N controllers it discusses adjusting PID parameters to control acceleration rate/behavior.

It, besides the proportional and integral parameters, mentions something called "Speed Err limit". I can't figure out what that means and was unable to get an intelligible answer when I asked the Kelly rep.

Does anyone know what this might refer to - might it have something to do with the derivative parameter?? I can't think of anything else.

 

[eee291]

It's hysteresis basically. If you set it too low it will rapidly bounce around those pid and speed settings.
I usually never touch it.

 

[NoSmoke]

OK, so it's not the derivative?

Best to leave it at the default value of 1000?

 

[eee291]

Depends on your use case I guess.
If you don't have a speed limit set then there is really no need to mess around with it.