TITAN-SVX Software Manual
page 41
Rev 4.01
A.14.11. Gains
TITAN-SVX uses simplified gain commands, also known as Firmness value.
Instead of using some undecipherable gain values, simplified Firmness value
ranges from 0 (soft) to 100 (hard). Note that 0 does not mean zero gain values
but the lowest value in the firmness range.
Three Firmness commands are available related to closed loop motion control:
PGAINF
– Position related Firmness value
VGAINF
– Velocity related Firmness value
IGAINF
– Integral related Firmness value
The further simplified command is also available which sets all three Firmness
values to the same value:
PRESETGAIN
– Sets all three (PGAINF, VGAINF, IGAINF) at once.
Motor current closed loop control Firmness is also available.
CGAINF
– Current related Gain Firmness value
To set all three Firmnesses (PGAINF, VGAINF, IGAINF) to 50
Command:
@01:PRESETGAIN=50
Reply:
#01:PRESETGAIN=50
To set the position control Firmness
Command:
@01:PGAINF=80
Reply:
#01:PGAINF=80
To set the current control Firmness
Command:
@01:ACC=2000
Reply:
#01:ACC=2000
Notes:
•
Firmness values can be set anytime, even during motion.
•
Firmness value takes effect at the command request and will
overwrite the previous firmness command. For example, if the
PRESETGAIN command is used to set all three commands to
60, and PGAINF is sent afterward to set the PGAIN to 75,
PGAIN firmness value will be 75, VGAIN and IGAIN firmness
values will remain at 60.
