Galil DMC-1400 Manuale Utente
KI
FUNCTION: Integrator
DESCRIPTION:
The KI command sets the integral gain of the control loop. It fits in the control equation as
follows:
D(z)
=
4
⋅
KP + 4
⋅
KD(z-1)/z + KI z/2(z-1)
The integrator term will reduce the position error at rest to zero.
ARGUMENTS: KI n
where
n in an unsigned number in the range 0 to 2047.875 with a resolution of 1/128
“?” returns the value of the integrator
USAGE:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
4.0
Command Line
Yes
Can be Interrogated
Yes
Used as an Operand
Yes
Controller Usage ALL
OPERAND USAGE:
_KI contains the value of the integrator.
RELATED COMMANDS:
Proportional Gain
Derivative
Zero
Integrator Limit
EXAMPLES:
KI 12
Specify integral gain
KI ?
Return value
0012
120 ● KI
DMC-1400 Series Command Reference