Installation guide

260 Servo Drive
KI Servo Parameter
ACTION:
Sets or returns the integral gain of a servo axis.
PROGRAM SYNTAX:
KI(axis)=expression
KI=expression1, ... , expression8
KI(axis, ... ,axis)=expression, ... ,expression
KI(axis) - used in an expression
REMARKS:
The axis specifies the number of the axis (1-8).
The expression is the Integral gain value of the servo axis. The expres-
sion value must be positive.
The KI units are milliseconds.
KI determines how fast the integral term grows with a non-zero position
error. The growth rate is inversely related to the value of KI. For exam-
ple the integral term grows 5 times faster with KI=10 than with KI=50.
A special case is Ki=0, which disables the integral action and set the in-
tegral term to zero. When the drive is disabled, the integral term is set to
zero. Setting KI only affects the gain for the integral term. Reading KI
returns the present setting.
EXAMPLES:
KI(2)=4
Sets the Integral gain of axis 2 to 4 milliseconds
.
KI=1,,4
Sets the Integral gain of axis 1 to 1 milliseconds and axis 3 is set to 4
milliseconds.
KI(1,3)=1,4
Sets the derivative gain of axis 1 to 1 milliseconds and axis 3 is set to 4
milliseconds.