Gains and limits¶

Command	Kind	Argument	What it does	Response
`#Vlim`	Set/Get	int: voltage in mV	The voltage limit of the current loops (Ud and Uq); 0 means use the supply voltage.	the current limit in mV
`#Vlimit`	Set/Get	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 current limit
`#Kpp`	Set/Get	float: gain	Kp of the position loop.	the current value
`#KP`	Set/Get	float: gain	KP of the impedance (PD) loop.	the current value
`#KD`	Set/Get	float: gain	KD of the impedance (PD) loop.	the current value
`#Kpv`	Set/Get	float: gain	Kp of the velocity loop.	the current value
`#Kpiq`	Set/Get	float: gain	Kp of the Iq current loop; also sets Kpid.	the current value
`#Kpid`	Set/Get	float: gain	Kp of the Id current loop.	the current value
`#Kiv`	Set/Get	float: gain	Ki of the velocity loop.	the current value
`#Kiiq`	Set/Get	float: gain	Ki of the Iq current loop; also sets Kiid.	the current value
`#Kiid`	Set/Get	float: gain	Ki of the Id current loop.	the current value
`#Ilim`	Set/Get	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.	the current limit
`#Cbw`	Set/Get	float: bandwidth in Hz	The current loop bandwidth calibration uses to compute Kpiq and Kiiq. Not saved: 500 Hz after a power cycle.	the bandwidth
`#Rstint`	Set/Get	int: 0 or 1	Whether the integral accumulators are reset on every new setpoint.	the setting

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