Ki (integrator), Tuning, D(z) = 4 * kp + 4 * kd(z-1)/z + ki z/2(z-1) – Yaskawa LEGEND-MC User Manual
Page 154
144
LEGEND-MC User’s Manual
KI (Integrator)
[Tuning]
DESCRIPTION:
The KI command sets the integral gain of the control loop. It fits in the control equation as follows:
D(z) = 4 * KP + 4 * KD(z-1)/z + KI z/2(z-1)
The integrator term will reduce the position error at rest to zero.
ARGUMENTS: KI x, y, z, w or KIX=x or KI a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
OPERAND USAGE:
_KIn contains the value of the integrator where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
While Moving
Yes
Minimum Value
0
In a Program
Yes
Maximum Value
2047.875
Command Line
Yes
Default Value
0
Can be Interrogated
Yes
Default Format
4.0
Used as an Operand
Yes
Distributed Control
Specific Axis
"KP" Proportional
Gain
"KD" Derivative
"IL" Integrator
Limit
KI 12
Specify integral
KI ?
Return value
0012