VL.KI

Description

VL.KI sets the integral gain of the velocity loop.

A factor of 2π is included in the time calculation, therefore a PI velocity loop with a constant error of 1 rps in which VL.KI is set to 160 and VL.KP is set to 1, will take (1000/160)*2π ms to increase the integral gain to 1. Therefore, the total gain is 2 at this time (see velocity loop structure below).

 

Velocity Loop Structure

General Information

Type

NV Parameter

Units

Hz

Range

0 to 1,000 Hz

Default Value

160 Hz

Data Type

Float

See Also

VL.KP

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

354Dh/0

M_01-00-00-000
PROFINET and Sercos® III
Fieldbus Address Attributes Signed?

PROFINET

2434 DWord No
Sercos® III 4 Octets
EtherNet/IP
Instance Data Size Data Type
435 4 Byte Float
Modbus
Register Address Is 64 bit? Attributes Signed? Object Start Version

868

No 32 bit No M_01-03-00-000

Related Topics

"Velocity Loop"