VL.KI

Description

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 VL.KI is set to 160 and 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).

 

Velocity Loop Structure

 

General Information

Type

NV Parameter

Units

Hz

Range

0 to 1,000 Hz

Default Value

160 Hz

Data Type

Float

See Also

VL.KP

Start Version

M_01-00-00-000

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

Index/Subindex

Object Start Version

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

/0

M_01-00-00-000

Related Topics

Velocity Loop