6. COMMAND REFERENCE 91
GAINS Gain configuration
Syntax aGAINS(GF,GI,GP,GV,FT)
Description Issuing a GAINS command with no parameters, produces a verbose list of all
current gains. Parameters may be set up all together in one command.
Alternatively, gains may be individually set/reported by using the read and
write variable commands.
GP : Gain Proportional
GV : Gain Velocity feedback
GF : Gain Feedforward
GI : Gain Integral action
FT : Filter time constant
For ranges see the system variables list.
Properties Immediate, saved by SV
Notes The only gains used in calculating the positioning control are those
appropriate to the particular mode of operation
MODE
Torque Velocity Position
GAIN TYPES
Feedforward No Yes Yes
Intergral action No No Yes
Proportional No No Yes
Velocity No Yes Yes
Filter time No Yes Yes
You can write to all gains types, any irrelevant parameters will be ignored.
Individual gain variables may include decimal values, such as 1.2.