Schematic

Commands Reference
326 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
Where:
cc = Motor channel
nn = Integral Gain *10
Example:
^KI 1 155: Set motor channel 1 Integral Gain to 15.5
Note:
Do not use default values. As a starting point, se P=2, I=0, D=0 in position modes (includ-
ing Speed Position mode). Use P=0, I=1, D=0 in closed loop speed mode and in torque
mode. Perform full tuning after that.
KP - PID Proportional Gain
HexCode: 2E
Description:
Sets the PID’s Proportional Gain for that channel. The value is set as the gain multiplied by
10. This gain is used in all closed loop modes. In Torque mode, when sinusoidal mode is
selected on brushless controllers, the FOC’s PID is used instead the this parameter has
no effect.
Syntax Serial: ^KP cc nn
~KP
Syntax Scripting: setconfig(_KP, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Gain
Type: Unsigned 8-bit
Min: 0 Max: 255
Default: 20 = 2.0
Where:
cc = Motor channel
nn = Proportional Gain *10
Example:
^KP 1 155 = Set motor channel 1 Proportional Gain to 15.5
Note:
Do not use default values. As a starting point, se P=2, I=0, D=0 in position modes. Use
P=0, I=1, D=0 in closed loop speed mode and in torque mode. Perform full tuning after that