MAXnet Manual - Pro-Dex, Oregon Micro Systems - #19

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MAX COMMAND REFERENCE MANUAL 1-15 1.5. SERVO CONTROL COMMANDS The following commands are valid only for servo axes and should never be executed while the specific axis is in motion. 1.5.1. SERVO VOLTAGE CONTROL COMMANDS Different servo amplifiers have different requirements for their control inputs. Some simply behave differently despite similar input requirements. To enable the use of a wide range of amplifiers, the MAX will accept the following commands for use in configuring servo outputs. COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION KO 1-126 C Offset PID offset coefficient SV 1-195 C Servo voltage control 1.5.2. PID COMMANDS The MAX uses a PID filter for servo position maintenance. The following commands provide user-control over the filter parameters and feedback of the same. COMMAND PAGE Q = QUERY C=CMD COMMAND DESCRIPTION CL 1-59 C Closed loop control KA 1-119 C Set PID acceleration feedforward KB 1-120 C Set PID upper bound limit coefficient KD 1-121 C Derivative gain coefficient KF 1-122 C Set PID friction coefficient KI 1-123 C Set PID integral gain coefficient KP 1-127 C Set PID proportional gain coefficient KU 1-130 C Set PID integration sum upper limit KV 1-131 C Set PID velocity feedforward