AXIS#.PL.KI

Description

AXIS#.PL.KI sets the integral gain of the position regulator PI loop. It is only active when AXIS#.OPMODE = 2 (Position).

The user can also configure when the position integrator is disabled. By setting AXIS#.PL.KITHRESH, whenever the velocity trajectory exceeds AXIS#.PL.KITHRESH, the position integrator will turn off.

Integrator Dependencies

  • By default, the drive is configured to only allow one integrator to be active at a time (See AXIS#.VL.KIMODE for details).
  • The position integrator takes precedence over the velocity integrator. If AXIS#.PL.KI is being used, AXIS#.VL.KI will be disabled.
    To use both integrators together, use AXIS#.PL.KITHRESH to set the point at which the integrators toggle, or set AXIS#.VL.KIMODE to allow all integrators to be active at the same time.
  • If AXIS#.IL.CMD saturates and is clamped by AXIS#.IL.LIMITP or AXIS#.IL.LIMITN , then the integrator will hold and stop integrating. The integrator will keep its current state and continue to wind up or discharge once the axis comes out of current saturation

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Description

Sets the integral gain of the position loop.

Units

Hz

Range

0 to 1000 Hz

Default Value

0 Hz

Data Type

Float

See Also

AXIS#.PL.KP , AXIS#.PL.KITHRESH

Stored in Non Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen AXIS1.PL.KI 0x500C 0xA UDINT 1000:1 - RW False
AXIS2.PL.KI 0x510C 0xA UDINT 1000:1 - RW False