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PC104

Navigator®-PC/104 User’s Guide

PMD 

Installation

1

1.10.4 Step #4: Set Filter Parameters

For motion to occur, some amount of feedback gain must be specified. Initially use just a proportional

gain with a very low value between 1 and 25. Later you can add integral or derivative gains as well as

feedforward gains if desired. The following sequence shows how to set the P, I, and D terms of the filter

and how to ‘update’ them, making them active.

SetKp xxxx

SetKd yyyy

SetKi zzzz

SetIntegrationLimit aaaa

Update

// xxxx is the desired proportional gain

// yyyy is the desired derivative gain

// zzzz is the desired integral gain

// aaaa is the desired integration limit

// make the values active.

It is not necessary to specify all 3 gains. Just Kp, followed by an Update can be specified, just a Kd, etc.

When exercising the motor use extreme caution. It is the responsibility of the user to observe

safety precautions at all times.

1.10.5 Step #5: Set the Motor Command

NOTE: THIS SECTION APPLIES TO THE MICROSTEPPING STEP MOTOR CARDS ONLY.

In order for motion to occur, the magnitude of the output must be set. Motor control output is described in

detail in the Navigator Motion Processor User’s Guide, section 9.4, Motor Command Output, page 55. A value between 0

and 32,767 represents an amplitude of 0 – 100%. A value of around 5000 should be satisfactory to start with.

Here is the command sequence to use:

SetMotorCommand xxxx

Update

// set the motor output level

// execute the move

Navigator-PC/104 User’s Guide

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