Newport MM4006, User Manual

Page: 169 / 411

MM4006
KI S e t integral gain
Usage
■
1MM
■
PGM I i MIP
Syntax x x K l n n or xxKl?
Parameters
Description x x [ i n t ] A x i s number.
nn [float] i n t e g r a l gain factor Ki.
Range x x 1 to 8.
nn 0 to 1.
Reading of the integral gain factor Ki value.
Units x x N o n e .
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 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 I f the sign "?" takes place of nn, this command returns the integral gain fac-
tor Ki value.
Errors A — Unknown message code.
Rel. Commands
B — Incorrect axis number.
C — Parameter out of limits.
KD — S e t derivative gain.
KP — S e t proportional gain.
UF — U p d a t e servo filter.
Example
3KI0.01 set integral gain factor for axis #3 to 0.01.
• • •
• -•
3UF I U p d a t e P1D filter; only now the K1 command takes effect
(%)
EDI 10181En 1 020 — 03/03
3.72 f t l e v v p o r t .