PL.INTOUTMAX
Description
PL.INTOUTMAX limits the output of the position loop integrator by setting the output saturation.
When used in concert with PL.INTINMAX, this variable allows you to make the position loop integrator effective near the target position. Far from the target position, however, the integrator is not dominant in the loop dynamics.
General Information
Type |
NV Parameter |
Units |
Depends on UNIT.PLINEAR (pg 1) or UNIT.PROTARY (pg 1) Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts |
Range |
Rotary: 0.000 to 18,446,744,073,709.000 counts 0.000 to 26,986.052 rad 0.000 to 1,546,188.288 deg 0.000 to 21,474.836 (custom units) 0.000 to 281,474,976.710 counts16 bit Linear: 0.000 to 18,446,744,073,709.000 counts 0.000 to 4,294.968*MOTOR.PITCH mm 0.000 to 4,294,967.296*MOTOR.PITCH µm 0.000 to 21,474.836 (custom units) 0.000 to 281,474,976.710 16-bit counts |
Default Value |
Rotary: 3,999,989,760.000 counts 5.852 rad 335.275 deg 4.657 (custom units) 61,035.000 16-bit counts Linear: 3,999,989,760.000 counts 0MOTOR.PITCH mm 9MOTOR.PITCH µm 4.657 (custom units) 61,035.000 16-bit counts |
Data Type |
Float |
See Also |
PL.INTINMAX |
Start Version |
M_01-00-00-000 |
Index/Subindex |
Object Start Version |
|
---|---|---|
/2 |
M_01-00-00-000 |
Related Topics
PL.ERR | PL.ERRFTHRESH | PL.ERRMODE | PL.ERRWTHRESH
Position Loop