KI set integral gain
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxKInn or xxKI?
PARAMETERS
Description xx [ int ] - axis number
nn [float] - integral gain factor Ki
Range xx - 1 to MAX AXES
nn - 0 to 2e9, or ? to read current setting
Units xx - none
nn - one
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
DESCRIPTION This command sets the integral gain factor Ki of the PID closed loop. It is
active for any DC servo based motion device that has been selected to operate in
closed loop.
The command can be sent at any time but it has no effect until the UF (update
filter) is received.
.
See the "Servo Tuning" chapter on how to adjust the PID filter parameters.
RETURNS If the “?” sign takes the place of nn value, this command reports the current
setting
REL. COMMANDS KD - set integral gain factor
KP - set proportional gain factor
KS - set saturation gain factor
UF - update filter
EXAMPLE 3KI 0.01 | set integral gain factor for axis # 3 to 0.01
•
•
•
3UF | update PID filter; only now the KI command takes effect
3-92 Section 3 – Remote Mode
To Next Page
Loading...
Need help?
General
