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 )
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.