NAME

pgains - prints out PID gains

SYNOPSIS

pgains [motor=1] [pmac] [p=] [d=] [vff=] [i=] [aff=] [debug]

DESCRIPTION

pgains prints out the values of Ix30, Ix31,Ix32,Ix33,Ix34 and Ix35 which are the gain parameters. Each one is labeled with comments. The gains P,D, I, VFF and AFF terms are displayed with the P term factored out. This issue arises because in the formula shown below for the PID correction, the proportional gain Ixx30 multiplies all the other gains. 
CMDout(n) = 2-19 * Ixx30*[{Ixx08 * [FE(n) + (Ixx32*CV(n) +Ixx35*CA(n))/128 +Ixx33*IE(n)/223]} -Ixx31*Ixx09*AV(n)/128]

OPTIONS

pmac - prints the Ix3? values as used by PMAC. Use these for entering into configuration files.

p=,d=,vff=,i=,aff=p= is specified all the other constants are scaled appropriately.

motor= sets the motor number. The default is 1.

PMAC index