Vl.ki - Kollmorgen AKD Series Benutzerhandbuch

AKD Benutzerhandbuch | 25.41.17 VL.KI

25.41.17 VL.KI

General Information
Type
Description
Units
Range
Default
Value
Data Type
See Also
Start Ver-
sion
Variants Supported
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
Fieldbus Information
Fieldbus
EtherCAT COE and CAN-
open
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 868
Description
VL.KI sets the integral gain of the velocity loop.
A factor of 2π is included in the time calculation, therefore a PI velocity loop with a constant error of 1 rps
in which VL.KI is set to 160 and VL.KP (s: 975) is set to 1, will take (1000/160)*2π ms to increase the inte-
gral gain to 1. Therefore, the total gain is 2 at this time (see velocity loop structure below).
Velocity Loop Structure
NV Parameter
Sets the velocity loop integral gain for the PI controller; active in opmodes 1
(velocity) and 2 (position) only.
Hz
0 to 1,000 Hz
160 Hz
Float
VL.KP (s: 975)
M_01-00-00-000
Variant Supported
Index/Subindex Object Start Version
354Dh/0
No 32 bit
√
√
√
M_01-00-00-000
No M_01-03-00-000
KOLLMORGEN | Mai 2013 972