Description
PL.INTINMAX limits the input of the position loop integrator by setting the input saturation. When used in concert with PL.INSATOUT, this variable allows you to make the position loop integrator effective near the target position. Far from the target position, however, the integrator is not dominant in the loop dynamics.
General Information
|
Type |
NV Parameter |
|
Units |
Depends on UNIT.PLINEAR or UNIT.PROTARY Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts |
|
Range |
Rotary: 0.000 to 18,446,744,073,709.000 counts 0.000 to 26,986.052 rad 0.000 to 1,546,188.288 deg 0.000 to 21,474.836 (custom units) 0.000 to 281,474,976.710 16-bit counts Linear: 0.000 to 18,446,744,073,709.000 counts 0.000 to 4,294.968*MOTOR.PITCH mm 0.000 to 4,294,967.296*MOTOR.PITCH µm 0.000 to 21,474.836 (custom units) 0.000 to 281,474,976.710 16-bit counts |
|
Default Value |
Rotary: 3,999,989,760.000 counts 5.852 rad 335.275 deg 4.657 (custom units) 61,035.000 16-bit counts Linear: 3,999,989,760.000 counts 0MOTOR.PITCH mm 9MOTOR.PITCH µm 4.657 (custom units) 61,035.000 16-bit counts |
|
Data Type |
Float |
|
See Also |
PL.FB |
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
| 3481h/1 | M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2297 | DWord | No |
| Sercos® III | 8 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 298 | 8 Byte | Position |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
594 |
Yes | 64 bit | No | M_01-03-00-000 |
Related Topics
PL.ERR | PL.ERRFTHRESH | PL.ERRMODE | PL.ERRWTHRESH | Position Loop
