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.