DMC-40x0 Command Reference KI • 141
KI
FUNCTION: Integrator
DESCRIPTION:
The KI command sets the integral gain of the control loop. It fits in the control equation as
follows:
D(z) = KP + KD(z-1)/z + KI z/2(z-1)
The integrator term will reduce the position error at rest to zero.
ARGUMENTS: KI n,n,n,n,n,n,n,n or KIA=n where
n is an unsigned numbers in the range 0 to 255 with a resolution of 0.001.
n = ? Returns the value for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 4.4
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_KIn contains the value of the integral gain for the specified axis.
RELATED COMMANDS:
KP Proportional Constant
KD Derivative Constant
IL Integrator Limit
EXAMPLES:
KI 12,14,16,20 Specify a,b,c,d-axis integral
KI 7 Specify a-axis only
KI ,,8 Specify c-axis only
KI ?,?,?,? Return A,B,C,D
:7, 14, 8, 20 KI values
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