SetAxisTorquePid

Configures the PID settings used by an axis in the torque mode.

Syntax

KsError SetAxisTorquePid(
     int Index,
     McPidSettings Settings
);

Parameters

Index: the index of an axis. Indexes are zero based. Aliases affect this parameter.

Settings: the McPidSettings structure that has all PID settings for the torque mode. You need to fill in every field.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Remarks

This function can only be used when an axis is power off.
If you want to use Master Interpolation Torque (modeMasterIntTor) or PID Torque (modePidTor) mode to control the torque sent to the PID, you should use SetAxisControlMode to set an axis's control mode before calling this function.

Example

Copy

McPidSettings torPid = {
    1,        //KP
    0,        //KI
    0,        //KI_LIMIT_PERCENT
    10,       //KD
    0.001,    //KV
    0.0003,   //KAA
    0.0003,   //KAD
    0,        //KJ
    0.2,      //REDUCED_GAIN_DELAY
    0.1,      //REDUCED_GAIN_FACTOR
    TRUE,     //KI_STOPPED_ONLY
    FALSE,    //KD_USE_INTERNAL_ENCODER
    0,        //MINIMUM_OUTPUT
    95        //MAXIMUM_OUTPUT
};

KsError nRet = SetAxisTorquePid(0, torPid);

Requirements

	RT	Win32
Minimum supported version	4.0	4.0
Header	ksmotion.h	ksmotion.h
Library	KsApi_Rtss.lib	KsApi.lib