Galil Motion Control manc 18x 6 Page 127
DMC-18x6 Command Reference
119
KP
FUNCTION: Proportional Constant
DESCRIPTION:
KP designates the proportional constant in the controller filter. The filter transfer function is
D(z) = KP + KD(z-1)/z + KI z/2(z-1)
For further details see the section Theory of Operation in the User's Manual.
ARGUMENTS: KP n,n,n,n,n,n,n,n or
KPA=n where
n is an unsigned numbers in the range 0 to 1023.875 with a resolution of 1/8.
n = ? Returns the value of the proportional constant for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
6
In a Program
Yes
Default Format
4.2
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_KPn contains the value of the proportional constant for the specified axis.
RELATED COMMANDS:
Proportional Constant
Integrator
Integrator Limit
Note: KP now has four time more resolution as prior controllers, and thus for the same value is four times
less effective. KP1 with TE1 yields TT at 0.003 Volts.
