Gains and limits¶
#Kpp¶
Set/GetArgument float: gain
Kp of the position loop.
Response: the current value
#Kpv¶
Set/GetArgument float: gain
Kp of the velocity loop.
Response: the current value
#Kiv¶
Set/GetArgument float: gain
Ki of the velocity loop.
Response: the current value
#Kpiq¶
Set/GetArgument float: gain
Kp of the Iq current loop; also sets Kpid.
Response: the current value
#Kiiq¶
Set/GetArgument float: gain
Ki of the Iq current loop; also sets Kiid.
Response: the current value
#Kpid¶
Set/GetArgument float: gain
Kp of the Id current loop.
Response: the current value
#Kiid¶
Set/GetArgument float: gain
Ki of the Id current loop.
Response: the current value
#KP¶
Set/GetArgument float: gain
KP of the impedance (PD) loop.
Response: the current value
#KD¶
Set/GetArgument float: gain
KD of the impedance (PD) loop.
Response: the current value
#Vlimit¶
Set/GetArgument int: speed in encoder ticks/s
The speed limit: the speed the position loop may command, and the largest velocity setpoint. (The velocity integrator is clamped to the current limit.) The magnitude of a negative number is taken.
Response: the current limit
#Ilim¶
Set/GetArgument int: current in mA
The Iq current limit. Set it to the rated phase current of your motor; the firmware clamps it to 2800 mA and takes the magnitude of a negative number.
Response: the current limit
#Vlim¶
Set/GetArgument int: voltage in mV
The voltage limit of the current loops (Ud and Uq); 0 means use the supply voltage.
Response: the current limit in mV
#Rstint¶
Set/GetArgument int: 0 or 1
Whether the integral accumulators are reset on every new setpoint. From firmware 110 also parameter 90.
Response: the setting
#Cbw¶
Set/GetArgument float: bandwidth in Hz, 10 to 500
The current loop bandwidth. From firmware 109 setting it computes Kpiq and Kiiq at once from R and L, the way calibration does, and prints them (the same as parameter 49); a value outside 10-500, or with R or L at 0, changes nothing. Not saved: 160 Hz after a power cycle, but the gains it set are kept by Save.
Response: the bandwidth, then Kp_iq = …, Ki_iq = …
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