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).
  • 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

FieldbusClosedA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design Parameter Index Sub-Index Data Type Float Scale Units Access PDOClosedPDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable
EtherCATClosed***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen AXIS1.VL.KI 0x5011 0x2 UDINT 1000:1 - RW False
AXIS2.VL.KI 0x5111 0x2 UDINT 1000:1 - RW False