Yaskawa LEGEND-MC - Manual (Page 143)

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LEGEND-MC User’s Manual
IL (Integrator Limit)
[Tuning]
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 to the +/-2 Volt range. This is very effective in allowing higher KI
values without adding instability.
A negative parameter also freezes the effect of the integrator during a move. For example, IL -3 limits the
integrator output to +/-3V. If, at the start of 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 x, y, z, w or ILX=x or IL a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
OPERAND USAGE:
_ILn contains the value of the integrator limit in volts where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Minimum Value -10
In a Program Yes Maximum Value 10
Command Line Yes Default Value 10 (disabled)
Can be Interrogated Yes Default Format 1.4
Used as an Operand Yes Distributed Control Specific Axis
"KI" Integrator
KI 2 Integrator constants
IL 3 Integrator limits
IL ? Returns the limit
3.0000