AXIS#.VL.KIMODE

Description

This parameter sets whether the velocity mode is:

0 – Always on

1 – On ONLY if the position loop integrator is inactive.

AXIS#.PL.KITHRESH can be used to set a velocity command threshold to control at what part of a move the position loop integrator is active. When the position loop integrator becomes inactive, the velocity loop integrator will become active.

Usage

As a general rule, AXIS#.PL.KI should not be used at the same time as AXIS#.VL.KI , the two integrators will oppose each other and likely cause undesirable results, sometimes a runaway. Using AXIS#.PL.KITHRESH in conjunction with AXIS#.VL.KIMODE the user can specify operating conditions to switch between integrators based on machine operation.

Often times it makes sense to use the velocity integrator during a move, but as the motion comes to an end, to switch back to the position integrator for fine positioning.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 1

Default Value

1

Data Type

Integer

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

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

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDOClosed 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.KIMODE

5011h

25h

Unsigned8

-

-

Read/Write

No

AXIS2.VL.KIMODE

5111h

25h

Unsigned8

-

-

Read/Write

No
EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.VL.KIMODE

6042

179A

Unsigned8

Read/Write

-

AXIS2.VL.KIMODE

71578

1179

Unsigned8

Read/Write

-
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.VL.KIMODE

6042

Unsigned8

Read/Write

-