KS set saturation level of integral factor
IMM PGM MIP
USAGE ♦ ♦ ♦
SYNTAX xxKSnn or xxKS?
PARAMETERS
Units xx - none
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
The command can be sent at any time but it has no effect until the UF (update
UF - update filter
•
Description xx [ int ] - axis number
nn [float] - saturation level of integrator KS
Range xx - 1 to MAX AXES
nn - 0 to 2e9, or ? to read current setting
nn - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
DESCRIPTION This command sets the saturation level of the integral factor of the PID closed
loop and is useful for preventing integral wind-up. It is active for any DC servo
based motion device that has been selected to operate in closed loop.
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 KI - set integral gain factor
KP - set proportional gain factor
KD - set derivative gain factor
EXAMPLE 3KS0.01 | set saturation level for axis # 3 to 0.01
•
•
3UF | update PID filter; only now the KS command takes effect
3-94 Section 3 – Remote Mode
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