NSK MEGATORQUE M-ESA-Y3040T25 - Integrator Limit: ILV

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9.2.5. Integrator Limit : ILV
l Parameter “ILV” sets the upper limit of the velocity gain. Shipping set is ILV100.
l The password is necessary for setting “ILV”.
l Integrator limiter reduces overshoot caused by the integrator during high acceleration /
deceleration.
l The integrator is indispensable for highly precise positioning. However, when a high-speed
acceleration/deceleration is specified, errors are likely to accumulate so that integration often
results in an overshoot. To prevent this, an integrator limiter is provided to restrict an excessive
integration.
* For more details about the parameter, refer to “12. Commands and Parameters”.
Figure 9-30: Integrator limiter block diagram
Position
command
Velocity
loop gain
Position
loop gain
Position data
Velocity loop integrator
Integrator
limiter
+
–
Velocity data
+
–
Integrator
frequency
ILVVIVGPG
Figure 9-31
ILV
[%]
Error
Integration gain
ILV
[%]
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