3.63 EDH0162En1040 – 06/99
MM4005 KD — Set derivative gain
Usage IMM PGM MIP
Syntax xxKDnn
Parameters
Description xx
[int] — Axis number.
nn [float] — Derivative gain factor Kd.
Range xx — 1 to 4.
nn
— 0 to 1.
Units xx
— None.
nn — None.
Defaults xx Missing: Error B.
Out of range: Error B.
Floating point: Error A.
nn Missing: Error C.
Out of range: Error C.
Description This command sets the derivative gain factor Kd of the PID closed loop. It
is active for any motion device that has been selected to operate in closed
loop, including those driven by stepper motors.
The command can be sent at any time but it has no effect until the UF
(update filter) is received.
See the “Servo Tuning” section on how to adjust the PID filter parameters.
Returns None.
Errors A — Unknown message code.
B — Incorrect axis number.
C — Parameter out of limits.
Rel. Commands KI — Set integral gain.
KP — Set proportional gain.
UF — Update servo filter.
XD — Read derivative gain factor.
Example
3KD0.01
| Set derivative gain factor for axis #3 to 0.01.
… |
… |
… |
3UF |
Update PID filter; only now the KD command takes effect.
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