Installation guide

Servo Drive 257
INTLIM Servo Parameter
ACTION:
Sets the Integral limit for the servo output. This is the limit of the contri-
bution to the servo output from the integral of the position error.
PROGRAM SYNTAX:
INTLIM (axis)=expression
INTLIM=expression1, ... , expression8
INTLIM (axis,...,axis)=expression, ... ,expression
INTLIM (axis) - used in an expression
REMARKS:
The axis specifies the number of the axis (1-8).
The setting limits the contribution of the integral term to the servo loop's
output. This limit is imposed on the internal calculation within the con-
troller, and is used to prevent excessive buildup of the integrator output
which can occur if a constant error is allowed to exist for extended peri-
ods of time. Too low an integral limit may reduce the effectiveness of the
integrator by limiting its contribution to the output torque command.
This would cause a constant steady state error. Too high an integral limit
may allow the integrator to build up a large error stored in the controller
memory. This error would then be “unwound” at the end of a move
causing excessive overshoot and a long settling time. The limit can be set
between 0 and 319 volts. A setting of 100 is a good midrange starting
point, and this parameter rarely needs adjustment.
If the input value is out of range, the previous setting is retained. Read-
ing INTLIM returns the present setting in volts.
EXAMPLES:
INTLIM(2) = 5 ‘ sets the integral limit for axis 2 to 5 volts.
X = INTLIM(2) ‘ sets x to the integral limit of axis 2.