RHINO RMCS –2303 Operating Manual page 26

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Position Proportional Gain Register (PPG)
Address: 0x04 (40005)
Reset Value: 0xFF20
Reserved
1 1 1 1
Bits 15:8 Reserved
Bits 7:0 PPG [7:0]: Position Proportional Gain register
Default: 0x20
Maximum value: 0xFF
Minimum value: 0x01
Position proportional gain provides stable and vibration less movement in motor.
➢
Position Integral Gain Register (PIG)
Address: 0x0006 (40007)
Reset Value: 0xFF10
Reserved
1 1 1 1
Bits 15:8 Reserved.
Bits 7:0 PIG [7:0]: Position Integral Gain register
Default: 0x10
Maximum value: 0xFF
Minimum value: 0x00
Position Integral gain affects torque of the motor.
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Velocity Feed forward Gain Register (VFFG)
Address: 0x08 (40009)
Reset Value: 0xFF20
Reserved
1 1 1 1
Bits 15:8 Reserved.
Bits 7:0 VFFG [7:0]: Velocity Feed forward Gain register
Default: 0x20
Maximum value: 0xFF
Minimum value: 0x00
Velocity feed-forward gain predicts the commands needed to achieve zero error and inject them into the control loop.
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Lines per Rotation Register (LPR)
Address: 0x0A (40011)
Reset value: 0x014E
1 1 1 1
1 1 1 1
1 1 1 1
LPR[15:0]
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PIG[7:0]
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VFFG[7:0]
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rw
PPG[7:0]
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