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 |
|
|
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.
|
Fieldbus |
Index/Subindex |
Object Start Version |
|---|---|---|
|
EtherCAT COE and CANopen |
354Dh/0 |
M_01-00-00-000 |
|
Fieldbus |
Address |
Attributes | Signed? |
|---|---|---|---|
|
Profinet |
2434 |
DWord | No |
| sercos® III | 4 Octets |
| Fieldbus | Instance | Data Size | Data Type |
|---|---|---|---|
| EtherNet/IP | 435 | 4 Byte | Float |
|
Fieldbus |
Index/Subindex |
Is 64 bit? | Attributes | Signed? |
Object Start Version |
|---|---|---|---|---|---|
|
Modbus |
868 |
No | 32 bit | No |
M_01-03-00-000 |
Related Topics
