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).
- The position integrator takes precedenceIn arithmetic and algebra, when a number or expression is both preceded and followed by a binary operation, a rule is required for which operation should be applied first. From the earliest use of mathematical notation, multiplication took precedence over addition, whichever side of a number it appeared on. Thus 3 + 4 × 5 = 5 × 4 + 3 = 23.
To change the order of operations, we use parentheses (). Thus, if we want to force addition to precede multiplication, we write (3 + 4) × 5 = 35 over the velocity integrator; therefore, if AXIS#.PL.KI
is being used (and the drive is in Position Mode), AXIS#.VL.KI will be disabled.
To use both integrators together, use AXIS#.PL.KITHRESH to set the point at which the integrators toggle, or set AXIS#.VL.KIMODE to allow all integrators to be active at the same time.
- 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
Variants Supported
All variants are supported.
Fieldbus Information
FieldbusA 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 | PDOPDO 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 |
---|---|---|---|---|---|---|---|---|
EtherCAT***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 |