0x2594 - Position loop integral limit
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2594 | 0x00 | Position loop integral limit | FLOAT | RW | No | Yes | ≥ 0.0 | 0.0 | rev/s |
Setting the limit to 0.0 disables this feature.
It is not recommended to use this feature in combination with the control loop continuity option while changing PID parameters at runtime.
The continuity feature recalculates the integral accumulator to maintain the current output value. In certain scenarios, this recalculation can produce an integral accumulator value that exceeds its configured limits. When this happens, the continuity mechanism may not behave as expected.