Installation guide

Programming Commands 187

KD Servo Parameter

ACTION: Sets or returns the derivative gain for the servo axis.

PROGRAM SYNTAX: KD(axis)=number cr

KD=number1, ... , number8 cr

KD(axis) cr

KD cr

REMARKS: See Programming Command KD.

EXAMPLES: KD(2)=4

Sets the derivative gain of axis 2 to 4 milliseconds.

KD=10,,8

Sets the derivative gain of axis 1 to 10 milliseconds, axis 2 is unchanged

and axis 3 is set to 8 milliseconds.

KD(2)

Returns the derivative gain of axis 2.

Returns the derivative gain of all assigned axes.

KI Servo Parameter

ACTION: Sets or returns the integral gain of a servo axis.

PROGRAM SYNTAX: KI(axis)=number cr

KI=number1, ... , number8 cr

KI(axis) cr

KI cr

REMARKS: See Programming Command KI.

EXAMPLES: KI(2)=4

Sets the Integral gain of axis 2 to 4 milliseconds.

KI=1,,4

Sets the Integral gain of axis 1 to 1 milliseconds, axis 2 is unchanged and

axis 3 is set to 4 milliseconds.

KI(2)

Returns the Integral gain of axis 2.

Returns the Integral gain of all assigned axes.