Installation guide

Keyword Reference Guide
MN1270 02.2002 99
KINTMODE = 2
The integral action will have a maximum effect of 1.0V on the DAC output. This will only occur when
the axis is at rest or is moving at a constant velocity. During acceleration or deceleration, the integral
action is turned off.
DEFAULT can be used to set all servo loop gains to zero and KINTLIMIT to 100%.
Restrictions:
KINTMODE is only applicable on servo axes.
See also:
CURRENTLIMIT, DAC, DACLIMITMAX, DEFAULT, KDERIV, KPROP, KINT, KINTLIMIT,
KVEL, KVELFF, TORQUE
LOOPTIME/LT
Purpose:
Sets the servo loop update rate.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
    
Format:
LOOPTIME = <expression>
v = LOOPTIME
Dot Parameters:
None.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove PCI
 
1000 200, 500 or 1000
NextMove
 
1000 500 or 1000
ServoNode 51
 
1000 1000, 2000
MintDrive
 
1000 500, 1000, 2000
Description:
The servo loop algorithm is applied to all the servo axes on a periodic basis. It calculates the required
voltage to output to the axis DACs based on the current measured position and the required demand
position.
The regularity and frequency of this algorithm affects the performance of the servo drives. Generally
speaking, only very high performance servo drives actually require the high frequency loop closure.
The response time of the physical system is often measured in milliseconds. The more often the loops
are closed in a given period the less processor time is available for the application program code.
Example:
To set the servo loop time to 500 micro-seconds use:
LOOPTIME = 500
Restrictions:
To change the
LOOPTIME all axis must be Disabled.
Controller Specifics:
On NextMove, the stepper axes are updated at the same frequency as the profiler. The profiler rate can
be changed with the
PROFILETIME keyword.
On MintDrive and ServoNode 51, changing
LOOPTIME will set all motion variables, including
FASTLATCH, to their power-up state.