ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 98)

KI[N], KP[N] - PI Parameters
Purpose:
KI[1], KP[1] defines the PI current control filter.
KI[2], KP[2] defines the PI velocity control filter.
KP[3] defines the gain of the position controller.
The parameters KP[2], KI[2] and KP[3] apply only if the controller gains are fixed
(gain scheduling is not used: GS[2]=0).
The units for the speed loop gains are:
KP: mAmp/(count/sec)
KI: mAmp/count
The units for position gain are 1/sec.
Attributes: Type: Parameter, Real
Source: Program, RS-232, CANopen
Restrictions: None
Default values: RS=0
Range: KI[N]>0
KP[N]>0
Index range: [1…3]
See also:
KV[N] , GS[N]
Reference chapters in the SimplIQ for Steppers Application Note:
Chapter 10, ”The Current Controller;” Chapter 15, “The Controller”
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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