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
