AXIS#.VL.KIMODE
Description
This parameter sets whether the velocity mode is:
0 – Always on
1 – On ONLY if the position loop integrator is inactive.
AXIS#.PL.KITHRESH can be used to set a velocity command threshold to control at what part of a move the position loop integrator is active. When the position loop integrator becomes inactive, the velocity loop integrator will become active.
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.
Often times it 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 |
N/A |
|
Range |
0 to 1 |
|
Default Value |
1 |
|
Data Type |
Integer |
|
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.VL.KIMODE |
5011h |
25h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.VL.KIMODE |
5111h |
25h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
6042 |
1 |
6042 (0x179a) |
AXIS1.VL.KIMODE |
Unsigned8 |
Read/Write |
Yes |
|
71578 |
2 |
6042 (0x179a) |
AXIS2.VL.KIMODE |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.VL.KIMODE |
6042 |
Unsigned8 |
Read/Write |
- |
