AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.33.17 VL.KI
General Information
Type NV Parameter
Description
Sets the velocity loop integral gain for the PI controller; active in opmodes 1
(velocity) and 2 (position) only.
Units Hz
Range 0 to 1,000 Hz
Default
Value
160 Hz
Data Type Float
See Also VL.KP
Start Ver-
sion
M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
354Dh/0 M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 868 No 32 bit No M_01-03-00-000
Description
VL.KI sets the integral gain of the velocity loop.
A factor of 2Ï€ is included in the time calculation, therefore a PI velocity loop with a constant
error of 1 rps in which VL.KI is set to 160 and VL.KP is set to 1, will take (1000/160)*2Ï€ ms to
increase the integral gain to 1. Therefore, the total gain is 2 at this time (see velocity loop struc-
ture below).
Velocity Loop Structure
469 Kollmorgenâ„¢ | March 30, 2012
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