controller). The variable Integrator limit is defined by the subitems 2012:4, 2012:8 and 2011:4 respectively.
3.1.8.3.3.1 Parameters
0x2011 Velocity Controller Values Kp, Ki, Kd and Integrator Limit for Velocity Controller
0x2012 Position Controller Values Kp, Ki, Kd and Integrator Limit for Cascaded Position Controller
(Both loops: Position and Velocity)
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