Optima DMC-1xxx and DMC-18x2 Command Reference
IL
i
104
IL
FUNCTION: Integrator Limit
DESCRIPTION:
The IL command limits the effect of the integrator function in the filter to a certain voltage.
For example, IL 2 limits the output of the integrator of the A-axis to the +/-2 Volt range.
A negative parameter also freezes the effect of the integrator during the move. For example,
IL -3 limits the integrator output to +/-3V. If, at the start of the motion, the integrator
output is 1.6 Volts, that level will be maintained through the move. Note, however, that
the KD and KP terms remain active in any case.
ARGUMENTS: IL n,n,n,n,n,n,n,n or
ILA=n where
n is a number in the range -10 to 10 Volts with a resolution of 0.0003.
n = ? Returns the value of the integrator limit for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
9.9982
In a Program
Yes
Default Format
1.4
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_ILn contains the value of the integrator limit for the specified axis.
RELATED COMMANDS:
"KI "
Integrator
EXAMPLES:
KI 2,3,5,8
Integrator constants
IL 3,2,7,2
Integrator limits
IL ?
Returns the A-axis limit
3.0000
