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:
KP Proportional Gain
KD Derivative
ZR Zero
IL Integrator Limit
EXAMPLES:
KI 12 Specify integral gain
KI ? Return value
0012
120 ● KI DMC-1400 Series Command Reference