3.65 EDH0162En1040 – 06/99
MM4005 KP — Set proportional gain
Usage IMM PGM MIP
Syntax xxKPnn
Parameters
Description xx
[int] — Axis number.
nn [float] — Proportional gain factor Kp.
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 proportional gain factor Kp 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.
KI — Set integral gain.
UF — Update servo filter.
XP — Read proportional gain factor.
Example
3KP0.01
| Set proportional gain factor for axis #3 to 0.01.
… |
… |
… |
3UF |
Update PID filter; only now the KP command takes effect.
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