Newport ESP6000 User Manual page 145

esp_set_kd Set PID Derivative Gain (Kd)
esp_get_kd Report PID Derivative Gain (Kd) Setting
Synopsis:
Arguments:
Library Location:
Description:
Returns:
Usage Example:
See Also:
Section 5 — Programming
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#include "esp6000.h"
int esp_set_kd (long axis, float kd)
int esp_get_kd (long axis, float *kd)
long axis
axis number from 1-6
float kp
derivative gain
\esp6000.dll
esp_set_kd() sets the derivative gain (kd) of the PID servo filter. esp_get_kd() reports
the derivative gain (kd) setting.
If necessary, use the ESP-tune utility to optimize servo PID and feedforward
parameters.
ESPOK, ESPERROR
Hint:
#include "esp6000.h"
main()
{
long error, servotick;
if (!esp_init_system() )
{
printf("ESP6000 Not Initialized! \r\n");
exit(-1);
}
/* set PID gain */
esp_set_kp(1,100.0);
esp_set_kd(1,200.0);
esp_set_ki(1,50.0);
esp_set_il(1,50.0);
/* transfer PID to working registers */
esp_update_filter();
/* save parameters to ESP6000 Flash EPROM */
esp_save_parameters();
/* check error status */
esp_get_error_num(&error,&ServoTick) ;
if (error) printf("Error %d Reported!", error);
}
esp_set_kp(), esp_set_ki(), esp_set_il(), esp_update_filter()
NOTE
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