SPACECAM
SYSTEMS, INC.
MAXIMUS 7 OPERATOR’S MANUAL
August 17, 2016
6.8.1 The Train axis table
All modes of the train axis use PID type position loops:
The HardMode parameters are used with the hard mode and the PanFlwr and TwstFlwr parameters work
with all other gimbal modes. Kp - gain, Kd - differentiation, Ki - integration. Since the pan and twist
axes are followed by the train in a mixed matter it is important that the PanFlwr and TwstFlwr
parameters are balanced.
The Pan FeedFrwd Gain parameter is in testing. It supposed to help the train to react faster at high pan
accelerations. It is an extra dangerous parameter because the code is not stable yet and can make the
gimbal spin uncontrollable and very fast.
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