Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 1164

AKD Benutzerhandbuch | 24.46.17 VL.KI
24.46.17 VL.KI
General Information
Type
Description
Units
Range
Default
Value
Data Type
See Also
Start Ver-
sion
Variants Supported
AKD Base
AKD with Position Indexer
AKD EtherCAT
AKD CANopen
AKD BASIC
AKD SynqNet
AKD EtherNet/IP
AKD Profinet
AKD sercos ® III
AKD-N
AKD-C
Fieldbus Information
Fieldbus
EtherCAT COE and CAN-
open
Fieldbus
Profinet
sercos ® III
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. 1167) is set to 1, will take (1000/160)*2π ms to increase the
integral 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. 1167)
M_01-00-00-000
Variant Supported
Index/Subindex Object Start Version
354Dh/0
Address Attributes Signed?
DWord
2434 No
4 Octets
No
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
No
M_01-00-00-000
32 bit No M_01-03-00-000
KOLLMORGEN | Mai 2014 1164