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 |
|
Start Version |
M_01-00-00-000 |
Index/Subindex |
Object Start Version |
|
---|---|---|
/0 |
M_01-00-00-000 |
Related Topics