Get The Pid Parameter- Td (Id,Gtd,*\R\N); Set The Pid Parameters (Id,Spid,*,*******,##,&&\R\N); To Get The Maximum Permissible Continuous Current (Id,Gmcc\R\N); To Get The Maximum Permissible Peak Current (Id,Gmpc\R\N) - DFRobot Veyron Manual

For example, to get the parameter of M1 velocity loop PID- Ti
* Send: 1,GTI,1\r\n
* Returns: (current Ti values M1)

3.31 Get the PID parameter- Td (ID,GTD,*\r\n)

For example, to get the parameter of M1 velocity loop PID- Td
* Send: 1,GTD,1\r\n
* Returns: (the current Td values M1)
3.32 Set the PID parameters (ID,SPID,*,*******,##,&&\r\n)
M1 and M2 velocity loop PID parameters of the drive is completely independent, including scale
parameter, integral, differential parameter. These three parameters can be used in SET mode, the
drives will auto-tune based on the load on the motor, draw the ideal parameter values, which greatly
facilitates the use. Of course, the drive did not deny user configuring on their own, the three
parameters can be set up through the directive, user can observe practical effects of speed servo
combined with "real-time output motor speed" instruction and related software.
For example, to set PID parameters of M1, Kp, Ti, Td is respectively to 0.2, 4, 1
* Send: 1,SPID,1,0.2,4,1\r\n
* Returns: none

3.33 To get the maximum permissible continuous current (ID,GMCC\r\n)

Actual current is greater than the maximum permissible continuous current, and less than the
maximum permissible peak current, allowing time for 2s, larger than the 2s, the motor will stop
automatically and indicates overcurrent fault, factory default is 25000, unit- mA.
* Send: 1,GMCC\r\n
* Returns: (maximum permissible continuous current)

3.34 To get the maximum permissible peak current (ID,GMPC\r\n)

Actual current is greater than the maximum permissible peak current, allowing over 400ms, greater
than 400ms, the motor will stop automatically, and indicating over current fault, the factory default
value is 30000, mA.
* Send: 1,GMPC\r\n
* Returns: (maximum permissible peak current)

3.35 To get the current current (ID,GCC,*\r\n)

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