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DMC-1400 Series Command Reference IL ● 107
IL
FUNCTION: Integrator Limit
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.
A negative parameter also freezes the effect of the integrator during the move. For example,
IL -3 limits the integrator output to +/-3V. If, at the start of the 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 n where
n is a number in the range 0 to 9.9988 Volts with a resolution of .0003.
“?” returns the value of the integrator limit
USAGE:
While Moving Yes Default Value 9.9982
In a Program Yes Default Format 1.4
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
Controller Usage
ALL
OPERAND USAGE:
_IL contains the value of the integrator limit.
RELATED COMMANDS:
KI Integrator
EXAMPLES:
KI 2 Integrator constants
IL 3 Integrator limits
IL ? Returns the limit
3.0000