Galil Motion Control optcom Page 126
Optima DMC-1xxx and DMC-18x2 Command Reference
KI
i
115
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,n,n,n,n,n,n,n or
KIA=n where
n is an unsigned numbers in the range 0 to 2047.875 with a resolution of 1/128.
n = ? Returns the value for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
4.0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_KIn contains the value of the derivative constant for the specified axis.
RELATED COMMANDS:
"KP "
Proportional Constant
"KI "
Integrator
"IL "
Integrator Limit
EXAMPLES:
KI 12,14,16,20
Specify a,b,c,d-axis integral
KI 7
Specify a-axis only
KI ,,8
Specify c-axis only
KI ?,?,?,?
Return A,B,C,D
0007,0014,0008,0020 KI
values
