PL.KITHRESH

Description

This parameter sets the velocity command threshold when the position loop integrator turns off.

If velocity command is less than PL.KITHRESH, the position loop integrator will be active. If the velocity command exceeds PL.KITHRESH the position loop integrator is disabled (it will act as if PL.KI = 0).

Common Uses

As a general rule, PL.KI should not be used at the same time as VL.KI , the two integrators will oppose each other and likely cause undesirable results, sometimes a runaway. Using PL.KITHRESH in conjunction with VL.KIMODE the user can specify operating conditions to switch between integrators based on machine operation.

It often makes sense to use the velocity integrator during a move, but as the motion comes to an end, to switch back to the position integrator for fine positioning.

General Information

Type

R/W Parameter

Units

Velocity (See UNIT.VROTARY, UNIT.VLINEAR)

Range

0 to VL.LIMITP

Default Value

VL.LIMITP

Data Type

Float

Start Version

M_01-14-01-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet No
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.

Related Topics

PL.KI | VL.KIMODE

Position Loop