PL.INTINMAX

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. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version
3481h/1 M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2297 DWord No
Sercos® III 8 Octets
EtherNet/IP
Instance Data Size Data Type
298 8 Byte Position
Modbus
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