Yaskawa SMC–4000 - Manual (Page 148)

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SMC–4000 User 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 where
x, y z, w, or a, b, c, d are unsigned integers
USAGE:
OPERAND USAGE:
_KIn contains the value of the integrator where n is an axis letter.
RELATED COMMANDS:
KP (Proportional Constant)
KD (Derivative Constant)
IL (Integrator Limit)
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
Virtual Axis No
KI 12 Specify integral
MG_KIX Return value
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