VL.KI

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VL.KI

General Information
Type	NV Parameter
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 Hz
Default Value	160 Hz
Data Type	Float
See Also	VL.KP
Start Version	M_01-00-00-000

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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