# Gains and limits

<div class="cmd-index" markdown>[`#Kpp`](#kpp) [`#Kpv`](#kpv) [`#Kiv`](#kiv) [`#Kpiq`](#kpiq) [`#Kiiq`](#kiiq) [`#Kpid`](#kpid) [`#Kiid`](#kiid) [`#KP`](#kp) [`#KD`](#kd) [`#Vlimit`](#vlimit) [`#Ilim`](#ilim) [`#Vlim`](#vlim) [`#Rstint`](#rstint) [`#Cbw`](#cbw)</div>

### `#Kpp` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Kp of the position loop.

**Response:** the current value

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### `#Kpv` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Kp of the velocity loop.

**Response:** the current value

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### `#Kiv` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Ki of the velocity loop.

**Response:** the current value

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### `#Kpiq` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Kp of the Iq current loop; also sets Kpid.

**Response:** the current value

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### `#Kiiq` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Ki of the Iq current loop; also sets Kiid.

**Response:** the current value

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### `#Kpid` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Kp of the Id current loop.

**Response:** the current value

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### `#Kiid` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

Ki of the Id current loop.

**Response:** the current value

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### `#KP` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

KP of the impedance (PD) loop.

**Response:** the current value

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### `#KD` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: gain</span></div>

KD of the impedance (PD) loop.

**Response:** the current value

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### `#Vlimit` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: speed in encoder ticks/s</span></div>

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

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### `#Ilim` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: current in mA</span></div>

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

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### `#Vlim` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: voltage in mV</span></div>

The voltage limit of the current loops (Ud and Uq); 0 means use the supply voltage.

**Response:** the current limit in mV

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### `#Rstint` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> int: 0 or 1</span></div>

Whether the integral accumulators are reset on every new setpoint. From firmware 110 also parameter 90.

**Response:** the setting

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### `#Cbw` 

<div class="cmd-facts" markdown><span class="fact">Set/Get</span><span class="fact"><span class="k">Argument</span> float: bandwidth in Hz, 10 to 500</span></div>

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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