EDH0162En1040 – 06/99 3.64
MM4005 KI — Set integral gain
Usage IMM PGM MIP
Syntax xxKInn
Parameters
Description xx
[int] — Axis number.
nn [float] — integral gain factor Ki.
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 integral gain factor Ki 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 KD — Set derivative gain.
KP — Set proportional gain.
UF — Update servo filter.
XI — Read integral gain factor.
Example
3KI0.01
| set integral gain factor for axis #3 to 0.01.
… |
… |
… |
3UF |
Update PID filter; only now the KI command takes effect.
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