Data Sheet

Motor Conﬁgurations

Advanced Digital Motor Controller User Manual 325

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 8-bit

Min: 0 Max: 255

Default: 0

Where:

cc = Motor channel

nn = Differential Gain *10

Example:

^KD 1 155: Set motor channel 1 Differential 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.

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.

This gain is used in all closed loop modes. In Torque mode, when sinusoidal mode is se-

lected on brushless controllers, the FOC’s PID is used instead the this parameter has no

effect.

Syntax Serial: ^KI cc nn

~KI