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Galil Motion Control - Filter Equiv

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Galil Motion Control - Filter Equiv
The Equivalence Between Controller Filters

The following table helps convert the filter parameters between Galil controllers. It
includes the digital filter and the DAC.

Generic
Parameter
DMC-1000
DMC-1300
DMC-1500
PID Form
DMC-1000
DMC-1300
DMC-1500
GN, ZR Form
DMC-700
DMC-600-12
DMC-600
DMC-400
DMC-100
DMC-300
Gain K
KP=819 K(1-A)
GN=819 K
GN=205 K
GN=51 K
GN=25.5 K
Zero A
KD=819 KA
ZR=A
ZR=256 A
ZR=256 A
Example
K=0.1
A=0.906

KP=8
KD=74

GN=82
ZR=0.906

GN=20
ZR=232
Integral C
KI=6550 C
KI=5660 C
KI=26,240 C
KI=3250 C
Example
C=0.001

KI=6.5

KI=6.5

KI=26

KI=3
Example

A DMC-700 has the parameters

GN=26, ZR=240, KI=2
Find the equivalent filter parameters for DMC-1500.
The generic parameters are:
K= 26 = 0.127
205
A= 240 = 0.9375
256
C= 2 = 7.6
--
10
-5
26,240

Accordingly, the filter parameters for the DMC-1500 are:
KP=819
--
0.127(1-0.9375) = 6.5
KD=819
--
0.127
--
0.9375 = 97.5
KI=0.5





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