Ki - integrator constant, Command details, Parameter details – Applied Motion RS-232 User Manual
Page 126: Examples
126
920-0002 Rev. I
2/2013
Host Command Reference
KI - Integrator Constant
Compatibility: Servo drives only
Affects:
Servo tuning and performance
Sets or requests the servo control integrator gain term. Gain value is relative: “0” meaning no gain, “32767”
meaning full gain. KI is part of the Stiffness servo parameters in Quick Tuner. It minimizes (or may even
eliminate) position errors especially when holding position.
NOTE: It is recommended to use the Quick Tuner software for tuning and configuring your servo system.
Command Details:
Structure
KI{Parameter #1}
Type
BUFFERED
Usage
READ/WRITE
Non-Volatile
Yes
Register Access
None
Parameter Details:
Parameter #1
Integrator gain value
- units
integer
- range
0 - 32767 (0 = 0%, 32767 = 100%)
Examples:
Command
Drive sends
Notes
KI5000
-
Set integrator gain to 500
KI KI=500