Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 504 of 909
KL=formula
Constant, Integral Limit
APPLICATION: Motion control
DESCRIPTION: Integral gain limit
EXECUTION: Buffered until an F command is issued
CONDITIONAL TO: N/A
LIMITATIONS: Must be positive
READ/REPORT: RKL
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: 0 to 32767
TYPICAL VALUES: 0 to 32767
DEFAULT VALUE: 32767
FIRMWARE VERSION: 5.x and later
COMBITRONIC: KL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The KL term sets a limit on the effects of the KI term. Because KI integrates the position error
over time, it can eventually dominate the PID equation. To prevent this, KL sets an upper limit
on the KI term.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 446.
The KI term will raise the power to the servo as a function of time. If there is something other
than friction blocking the servo and it is unable to move, the amount of torque given to the
motor can quickly become extremely large. Therefore, KL may be an option for dynamic
(changing) loads, or for overshoot due to KI "wind-up".
Note that KL restricts the ability of the PID to compensate for speed when using voltage
commutation modes like MDT, MDE and MDS. Therefore, the position error (EA) may become
larger as speed increases.
EXAMPLE:
KL=1500'Set buffered integral limit
F 'Update PID filter
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 495)
R
KD=formula Constant, Derivative Coefficient (see page 497)
Part 2: Commands: KL=formula
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