Command: Integrator Adjust (70)

Supported Axes:	All Axes
Supported Control Modes:	Position PID, Velocity PID, Pressure/Force

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

Parameter Description

Range

Integral Output (%)

-100% to 100%

Integrator Select

Active (0)
Pos/Vel (1)
Prs/Frc (2)

A valid integer as described.

Description

This command adjusts the Integral Output Term. The Integral Output value will be applied immediately to the Integral Output Term specified by the Integrator Select command parameter. Zeroing the Integral Output Term is useful if it is has undesirably wound up for some reason. This command is ignored if the Current Integrator Mode is set to "Always Zero".

The Integral Output value is given in percent of maximum Control Output, which is normally 10V. Therefore, 0% means clear the integrator, 100% means 10V, and -100% means -10V.

The Integrator Select command parameter selects which integrator to apply the new value to. Typically, this should be set to Active (0), to apply to the current integrator. The other options are only necessary for Pressure/Force Limit in Position PID and Velocity PID modes.

Active (0)
Apply the Integral Output to the current integrator. If the axis is in PosPID with PFLimit or VelPID with PFLimit, then both integrators will be set to the specified value, which is only recommended when the value is zero.

Pos/Vel (1)
Apply the integrator value to the position or velocity integrator. This will work for Position PID and Velocity PID (with or without Pressure/Force Limit enabled). It will not affect Open Loop, P/F Control, nor the I-PD modes.
Prs/Frc (2)
Apply the integrator value to the Pressure/Force integrator. This will work for Position PID, Velocity PID, and Open Loop modes, if P/F Limit is enabled, plus in the Pressure/Force PID control mode. It has no effect if Pressure/Force Limit and Pressure/Force Control are disabled or if in one of the I-PD modes.

The Integral Output Term cannot be adjusted in any of the I-PD modes whether or not Pressure/Force Limit enabled.

The Integral Output Term can also be manipulated with the Set Integrator Mode (71) command and the Default Integrator Mode axis parameter.

Why Bother?

Sometimes, the Integral Output Term may wind up, which can cause problems. For example, one customer wanted to move a cylinder until it hit an object, and then back up 1 inch. The problem was that when the cylinder hit the object, the Integral Output Term wound up, causing the cylinder to delay after it was commanded to move backward. By clearing the integrator immediately before issuing the command to back up, the problem was solved.