User Manual

Commands Reference
310 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Scripting: setconfig(_KD, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Gain Type: Unsigned 32-bit
Min: 0 Max: 2,000,000,000 Default: 0
Where:
cc = Motor channel
nn = Differential Gain *1,000,000
Example:
^KD 1 1500000: Set motor channel 1 Differential Gain to 1.5.
Note:
Do not use default values. As a starting point, use P=2, I=0, D=0 in position modes
(including Speed Position mode). Use P=0, I=1, D=0 in closed loop speed mode and in
torque mode. Perform full tuning after that.
KI - PID Integral Gain
HexCode: 2F
Description:
Sets the PID’s Integral Gain for that channel. The value is set as the gain multiplied by 10^6.
This gain is used in all closed loop modes. In Torque mode, on brushless contontrollers, the
FOC’s PID is used instead and this parameter is used for the speed limiting tuning.
Syntax Serial: ^KI cc nn
~KI
Syntax Scripting: setconfig(_KI, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Gain Type: Unsigned 32-bit
Min: 0 Max: 2,000,000,000 Default: 0
Where:
cc = Motor channel
nn = Integral Gain *1,000,000
Example:
^KI 1 1500000: Set motor channel 1 Integral Gain to 1.5.
Note:
Do not use default values. As a starting point, use P=2, I=0, D=0 in position modes
(including Speed Position mode). Use P=0, I=1, D=0 in closed loop speed mode and in
torque mode. Perform full tuning after that.