Data Sheet

Commands Reference
324 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
Example:
^EPPR 2 200 : Sets PPR for encoder 2 to 200
ICAP - PID Integral Cap
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 %
KD - PID Differential Gain
HexCode: 30
Description:
Sets the PID’s Differential 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 contontrollers, the FOC’s PID is used instead the this parameter
has no effect.
Syntax Serial: ^KD cc nn
~KD [cc]