PL.INTINMAX
General Information
Type NV Parameter
Description
Limits the input of the position loop integrator by setting the input sat-
uration.
Units
Depends on UNIT.PROTARY or UNIT.PLINEAR
Rotary: counts, rad, deg, (PIN/POUT), 16-bit counts
Linear: counts, mm, µm, (PIN/POUT), 16-bit counts
Range
Rotary:
0.000 to 18,446,744,073,709.000 counts
0.000 to 26,986.052 rad
0.000 to 1,546,188.288 deg
0.000 to 21,474.836 (PIN/POUT)
0.000 to 281,474,976.710 16-bit counts
Linear:
0.000 to 18,446,744,073,709.000 counts
0.000 to 4,294.968*MOTOR.PITCH mm
0.000 to 4,294,967.296*MOTOR.PITCH µm
0.000 to 21,474.836 (PIN/POUT)
0.000 to 281,474,976.710 16-bit counts
Default Value
Rotary:
3,999,989,760.000 counts
5.852 rad
335.275 deg
4.657 (PIN/POUT)
61,035.000 16-bit counts
Linear:
3,999,989,760.000 counts
0MOTOR.PITCH mm
9MOTOR.PITCH µm
4.657 (PIN/POUT)
61,035.000 16-bit counts
Data Type Float
See Also PL.FB
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3481h/1 M_01-00-00-000
Modbus 594 (64-bit) M_01-03-00-000
Description
PL.INTINMAX limits the input of the position loop integrator by setting the input saturation. When used in con-
cert with PL.INSATOUT, this variable allows you to make the position loop integrator effective near the target
position. Far from the target position, however,the integrator is not dominant in the loop dynamics.
Related Topics
11.5 Position Loop
AKD User Guide | PL Parameters
Kollmorgen | December 2010 545
To Next Page
Loading...
Need help?
General
