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.