Instruction Manual

230 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
KFF
Velocity feedforward Gain Gain
Purpose Set the velocity feedforward gain to a new value. Velocity feedforward gain may be
changed at any time in the program.
Syntax KFF = value
variable = KFF
value The value is entered in percent. The value can be a constant, a
nonvolatile variable Gn, a volatile variable Vn, or a system
variable. The range of this value is 0 to 200%.
variable The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also KP, KPZ, PZONE, KI, IZONE
Example
KFF = 75
KFF = V8
V7 = KFF
KI
Integral Gain, Position Regulator Gain
Purpose Set the integral gain to a new value. The position regulator integral gain may be
changed at any time in the program. The integral gain is active when the position error
is less than IZONE (regardless of commanded velocity). If IZONE is set to zero, inte-
gral gain is not active.
Syntax KI = value
variable = KI
value The value can be a constant, a nonvolatile variable Gn, a vola-
tile variable Vn, or a system variable.
variable The variable can be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also IZONE, KP, KPZ, PZONE, KFF
Example
KI = 1.5
KI = G3
V4 = KI