AXIS#.VL.KI

Description

AXIS#.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 AXIS#.VL.KI is set to 160 and AXIS#.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).

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; therefore, if AXIS#.PL.KI is being used (and the drive is in Position Mode), 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

Velocity Loop Structure

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Description

Sets the velocity loop integral gain for the PI controller; active in opmodes 1 (velocity) and 2 (position) only.

Units

Hz

Range

0 to 1,000

Default Value

0

Data Type

Float

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.VL.KI

5011h

02h

Unsigned32

-

1000:1

Read/Write

No

AXIS2.VL.KI

5111h

02h

Unsigned32

-

1000:1

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

6028

1

6028 (0x178c)

AXIS1.VL.KI

Signed32

Read/Write

Yes

71564

2

6028 (0x178c)

AXIS2.VL.KI

Signed32

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.VL.KI

6028

Float

Read/Write

-