Il (integrator limit), Tuning – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
IL (Integrator Limit)
[Tuning]
DESCRIPTION:
The IL command limits the effect of the integrator function in the filter to a certain voltage. For example, IL
2 limits the output of the integrator to the +/-2 Volt range. This is very effective in allowing higher
KI
(Integrator)
values without adding instability.
A negative parameter also freezes the effect of the integrator during a move. For example, IL -3 limits the
integrator output to +/-3V. If, at the start of motion, the integrator output is 1.6 Volts, that level will be
maintained through the move. Note, however, that the
KD (Derivative Constant)
and
KP (Proportional
Constant)
terms remain active in any case.
ARGUMENTS: IL x, y, z, w or ILX=x or IL a, b, c, d where
x, y z, w, or a, b, c, d are unsigned integers
USAGE:
OPERAND USAGE:
_ILn contains the value of the integrator limit in volts where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
While Moving
Yes
Minimum Value
-10
In a Program
Yes
Maximum Value
10
Command Line
Yes
Default Value
10 (disabled)
Can be Interrogated
Yes
Default Format
1.4
Used as an Operand
Yes
Virtual Axis
No
KI 2
Integrator constants
IL 3
Integrator limits
IL ?
Returns the limit
3.0000