McPidSettings

The PID settings of KINGSTAR Motion.

Name	Type	Meaning
KP	double	Proportional gain.
KI	double	Integral gain.
KILimitPercent	double	The maximum integral error in percent of the maximum output. For example, if the maximum torque is 50%, KILimitPercent is 10%, the maximum intergral error is 5% of the torque.
KD	double	Derivative gain.
KV	double	Velocity feedforward gain.
KAA	double	Acceleration feedforward gain.
KAD	double	Deceleration feedforward gain.
KJ	double	Jerk feedforward gain.
ReducedGainsDelay	double	Determines when the axis starts using RgFactor after finishing the move. Unit: second.
RgFactor	double	KP, KI, and KD multiplied by this factor after ReducedGainsDelay.
KIStoppedOnly	BOOL	Uses KI gain only after the move is done, in case you want to avoid KI during the move to avoid overshooting but have it after to remove the steady-state error. By default, it is TRUE.
KDUseSecondEncoder	BOOL	Uses the internal position encoder for KD. By default, it is FALSE.
MinimumOutput	double	The minimum output of the PID. The minimum torque in % or minimum velocity.
MaximumOutput	double	The maximum output of the PID. The maximum torque in % or maximum velocity.