AXIS#.PL.KITHRESH
Description
This parameter sets the velocity command threshold when the position loop integrator turns off.
If velocity command is less than AXIS#.PL.KITHRESH, the position loop integrator will be active. If the velocity command exceeds AXIS#.PL.KITHRESH the position loop integrator is disabled (it will act as if AXIS#.PL.KI = 0).
Usage
As a general rule, AXIS#.PL.KI should not be used at the same time as AXIS#.VL.KI , the two integrators will oppose each other and likely cause undesirable results, sometimes a runaway. Using AXIS#.PL.KITHRESH in conjunction with AXIS#.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.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
Velocity (See AXIS#.UNIT.VROTARY AXIS#.UNIT.VLINEAR ) |
|
Range |
0 to AXIS#.VL.LIMITP |
|
Default Value |
AXIS#.VL.LIMITP |
|
Data Type |
Float |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.PL.KITHRESH |
500ch |
0eh |
Signed32 |
Velocity |
- |
Read/Write |
No |
|
AXIS2.PL.KITHRESH |
510ch |
0eh |
Signed32 |
Velocity |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5916 |
1 |
5916 (0x171c) |
AXIS1.PL.KITHRESH |
Signed32 |
Read/Write |
Yes |
|
71452 |
2 |
5916 (0x171c) |
AXIS2.PL.KITHRESH |
Signed32 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.PL.KITHRESH |
5916 |
Float |
Read/Write |
Velocity |
