Description
AXIS#.PL.KI sets the integral gain of the position regulator PI loop. It is only active when AXIS#.OPMODE = 2 (Position).
The user can also configure when the position integrator is disabled. By setting AXIS#.PL.KITHRESH, whenever the velocity trajectory exceeds AXIS#.PL.KITHRESH, the position integrator will turn off.
Integrator Dependencies
- By default, the drive is configured to only allow one integrator to be active at a time (See AXIS#.VL.KIMODE for details).
- The position integrator takes precedence over the velocity integrator. If AXIS#.PL.KI is being used, AXIS#.VL.KI
will be disabled.
To use both integrators together, use AXIS#.PL.KITHRESH to set the point at which the integrators toggle, or set AXIS#.VL.KIMODE to allow all integrators to be active at the same time.
- If AXIS#.IL.CMD saturates and is clamped by AXIS#.IL.LIMITP or AXIS#.IL.LIMITN , then the integrator will hold and stop integrating. The integrator will keep its current state and continue to wind up or discharge once the axis comes out of current saturation
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Description |
|
|
Units |
Hz |
|
Range |
0 to 1000 Hz |
|
Default Value |
0 Hz |
|
Data Type |
Float |
|
See Also |
|
|
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.KI |
500ch |
0ah |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
AXIS2.PL.KI |
510ch |
0ah |
Unsigned32 |
- |
1000:1 |
Read/Write |
No |
|
Name |
ID |
Hex |
Data Type |
Access |
Units |
|---|---|---|---|---|---|
|
AXIS1.PL.KI |
5907 |
1713 |
Signed32 |
Read/Write |
- |
|
AXIS2.PL.KI |
71443 |
1171 |
Signed32 |
Read/Write |
- |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.PL.KI |
5907 |
Float |
Read/Write |
- |
