AXIS#.PL.KITHRESH

Description

This parameter sets the velocity command threshold when the position loop integrator turns off.

If velocity command is less than AXIS#.PL.KITHRESH, the position loop integrator will be active. If the velocity command exceeds AXIS#.PL.KITHRESH the position loop integrator is disabled (it will act as if AXIS#.PL.KI = 0).

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.

It often 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

Velocity (See AXIS#.UNIT.VROTARY)

Range

0 to AXIS#.VL.LIMITP

Default Value

AXIS#.VL.LIMITP

Data Type

Float

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.PL.KITHRESH

500ch

0eh

Signed32

Velocity

-

Read/Write

No

AXIS2.PL.KITHRESH

510ch

0eh

Signed32

Velocity

-

Read/Write

No

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.PL.KITHRESH

5916

171C

Signed32

Read/Write

Velocity

AXIS2.PL.KITHRESH

71452

1171

Signed32

Read/Write

Velocity

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.PL.KITHRESH

5916

Float

Read/Write

Velocity