KD set derivative gain
IMM PGM MIP
SYNTAX xxKDnn or xxKD?
active for any DC servo based motion device that has been selected to operate in
closed loop.
RETURNS If the “?” sign takes the place of nn value, this command reports the current
setting
USAGE ♦ ♦ ♦
PARAMETERS
Description xx [ int ] - axis number
nn [float] - derivative gain factor Kd
Range xx - 1 to MAX AXES
nn - 0 to 2e9, or ? to read current setting
Units xx - none
nn - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
DESCRIPTION This command sets the derivative gain factor Kd of the PID closed loop. It is
The command can be sent at any time but it has no effect until the UF (update
filter) is received.
.
See the "Servo Tuning" chapter on how to adjust the PID filter parameters.
REL. COMMANDS KI - set integral gain factor
KP - set proportional gain factor
KS - set saturation gain factor
UF - update filter
EXAMPLE 3KD0.01 | set derivative gain factor for axis # 3 to 0.01
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•
•
3UF | update PID filter; only now the KD command takes effect
Section 3 – Remote Mode 3-91
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