Description
AXIS#.PL.KI sets the integral gain of the position regulator PI loop. It is only active when AXIS#.OPMODE = 2 (Position).
The user can also configure when the position integrator is disabled. By setting AXIS#.PL.KITHRESH, whenever the velocity trajectory exceeds AXIS#.PL.KITHRESH, the position integrator will turn off.
Integrator Dependencies
- By default, the drive is configured to only allow one integrator to be active at a time (See AXIS#.VL.KIMODE for details).
- The position integrator takes precedence
In arithmetic and algebra, when a number or expression is both preceded and followed by a binary operation, a rule is required for which operation should be applied first. From the earliest use of mathematical notation, multiplication took precedence over addition, whichever side of a number it appeared on. Thus 3 + 4 × 5 = 5 × 4 + 3 = 23.
To change the order of operations, we use parentheses (). Thus, if we want to force addition to precede multiplication, we write (3 + 4) × 5 = 35 over the velocity integrator. If AXIS#.PL.KI is being used, AXIS#.VL.KI
will be disabled.
To use both integrators together, use AXIS#.PL.KITHRESH to set the point at which the integrators toggle, or set AXIS#.VL.KIMODE to allow all integrators to be active at the same time.
- If AXIS#.IL.CMD saturates and is clamped by AXIS#.IL.LIMITP or AXIS#.IL.LIMITN , then the integrator will hold and stop integrating. The integrator will keep its current state and continue to wind up or discharge once the axis comes out of current saturation
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Description |
|
|
Units |
Hz |
|
Range |
0 to 1000 Hz |
|
Default Value |
0 Hz |
|
Data Type |
Float |
|
See Also |
|
|
Stored in Non Volatile Memory |
Yes |
Variants Supported
All variants are supported.
Fieldbus Information
| Fieldbus A 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
|
Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT ***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 |
AXIS1.PL.KI | 0x500C | 0xA | UDINT | 1000:1 | - | RW | False |
| AXIS2.PL.KI | 0x510C | 0xA | UDINT | 1000:1 | - | RW | False |
