User Manual

Motor Configurations
Advanced Digital Motor Controller User Manual 345
Where:
cc = Encoder channel
nn = PPR value
Example:
^EPPR 2 200 : Sets PPR for encoder 2 to 200
ICAP - PID Integrator Limit
HexCode: 32
Description:
This parameter is the integral cap as a percentage. This parameter will limit maximum
level of the Integral factor in the PID. It is particularly useful in position systems with long
travel movement, and where the integral factor would otherwise become very large be-
cause of the extended time the integral would allow to accumulate. This parameter can
be used to dampen the effect of the integral parameter without reducing the gain. This
parameter may adversely affect system performance in closed loop speed mode as the
Integrator must be allowed to reach high values in order for good speed control.
Syntax Serial: ^ICAP cc nn
~ICAP [cc]
Syntax Scripting: setconfig(_ICAP, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Cap
Type: Unsigned 8-bit
Min: 1 Max: 100
Default: 100%
Where:
cc = Motor channel
nn = Integral cap in %
KDG - PID Differential Gain
HexCode: F2
Description:
Sets the PID’s Differential Gain. The value is set as the gain multiplied by 10^6. This value is
used for both speed and position differential gains.
Syntax Serial: ^KDG cc nn
~KDG [cc]
Syntax Scripting: setconfig(_KDG, cc, nn)