Newport MM4006, User Manual

Page: 168 / 411

MM4006
KD S e t derivative gain
Usage
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IMM
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PGM M I P
Syntax x x K D n n
Parameters
Description x x [int] — Axis number.
nn [float] — Derivative gain factor Kd.
Range x x — 1 to 8.
nn — 0 to 1.
Units x x — None.
nn N o n e .
Defaults x x M i s s i n g : E r r o r B.
Out of range: E r r o r B.
Floating point: E r r o r A.
nn M i s s i n g : E r r o r C.
Out of range: E r r o r C.
Description T h i s 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 N o n e .
Errors A U n k n o w n message code.
B — I n c o r r e c t axis number.
C — Parameter out of limits.
Rel. Commands K I S e t integral gain.
KP S e t proportional gain.
UF U p d a t e servo filter.
Example
31CD0.01 Set derivative gain factor for axis #3 to 0.01.
•• •
•••
3UF I U p d a t e PID filter; only now the KD command takes effect.
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I S s i e v v p o r t . 3 . 7 1 E D H 0 1 8 1 E n 1 0 2 0 — 03/03