Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 506 of 909
KP=formula
Constant, Proportional Coefficient
APPLICATION: Motion control
DESCRIPTION: Proportional coefficient
EXECUTION: Buffered until an F command is issued
CONDITIONAL TO: N/A
LIMITATIONS: Must be positive
READ/REPORT: RKP
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: 0 to 65535
TYPICAL VALUES: 40 to 8000
DEFAULT VALUE: Motor-size dependent
FIRMWARE VERSION: 5.x and later
COMBITRONIC: KP:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The KP command is used to set the gain of the proportional parameter of the PID filter.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 446.
This creates a force from the PIDin direct proportion to how far the motor is pushed away
from the calculated trajectory. This force is like a spring that is being stretched — the more it
is stretched, the further it resists. While this gives a predictable force to maintain the desired
position, it has diminishing results as the error gets smaller. Therefore, to zero the position
error in the long term, use the KI term of the PID filter. For details, see KI=formula on page
501.
The higher the KP value, the stiffer the motor will be. At some point, the added stiffness will
cause the motor to become unstable. This can sometimes be stabilized by adjusting the
KDvalue (for details, see KD=formula on page 497). However, if moving the KD value up or
down does not stabilize the servo, then the KP value is too high and must be reduced.
EXAMPLE:
KP=250'Set buffered proportional gain
F 'Update PID filter
Part 2: Commands: KP=formula
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