AXIS#.VL.KI

Description

AXIS#.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 AXIS#.VL.KI is set to 160 and AXIS#.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).

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; therefore, if AXIS#.PL.KI is being used (and the drive is in Position Mode), 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

Velocity Loop Structure

Versions

Action	Version	Notes
Implemented	02-00-00-000

General Information

Type	Read/Write
Description	Sets the velocity loop integral gain for the PI controller; active in opmodes 1 (velocity) and 2 (position) only.
Units	Hz
Range	0 to 1,000
Default Value	0
Data Type	Float
Stored in Non-Volatile Memory	Yes

Variants Supported

All variants are supported.

Fieldbus Information

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

Command	Index	SubIndex	Data Type	Units	Float Scale	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
AXIS1.VL.KI	5011h	02h	Unsigned32	-	1000:1	Read/Write	No
AXIS2.VL.KI	5111h	02h	Unsigned32	-	1000:1	Read/Write	No

EtherNet/IP

Name	ID	Hex	Data Type	Access	Units
AXIS1.VL.KI	6028	178C	Signed32	Read/Write	-
AXIS2.VL.KI	71564	1178	Signed32	Read/Write	-

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.VL.KI	6028	Float	Read/Write	-