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.