Instruction Manual

302 Variables and Flags Assignment and Request Commands • Gains
Publication 1398-PM601A-EN-P — October 2000
HOST MODE
Gains
Command Description Flag/
Variable
Read/
Write
Personality
Module
FGAIN Acceleration feedforward gain V R/W Y #
FILTEN TRUE to enable the velocity loop filter F R/W Y #
FILTER or FIL Velocity loop filter value V R/W Y #
IGAIN Integral gain for the velocity loop V R/W Y #
IZONE Region where KI has effect V R/W Y #
KFF Velocity feedforward gain V R/W Y #
KI Integral gain for the position loop V R/W Y #
KP Proportional gain for the position loop V R/W Y #
KPZ Proportional gain used within the PZONE V R/W Y #
MXFGAIN Maximum FGAIN V R Y
MXFILTER Maximum FILTER V R Y
MXIGAIN Maximum IGAIN V R Y
MXKFF Maximum KFF V R Y
MXKI Maximum KI V R Y
MXKP Maximum KP V R Y
MXPGAIN Maximum PGAIN V R Y
PGAIN Proportional gain for the velocity loop V R/W Y #
PZONE Region where KPZ is used instead of KP V R/W Y #