Command: Select Gain Set (75)

Supported Axes:	Position and Velocity Control Axes
Supported Controllers:	RMC200

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

#	Parameter Description	Range
1	Gain Set: 0, 1	0,1

Description

If the Gain Sets axis parameter has been set to dual gain sets, this command selects the gain set to be used. The current gain set will change as soon as this command is received. The Current Gain Set axis status register displays the current gain set.

Dual gain sets may be used on systems where the response changes significantly at some point, such that different gains are required. For example, some presses may use a large valve for a portion of the stroke, then switch to a much smaller valve toward the end of the stroke. This requires different gains to be used. The Gain Sets feature is a convenient method of quickly switching gains when switching valves.

Status Bits

In Position Bit

When the Target Position reaches the Requested Position and the Actual Position is within the In Position Tolerance window, the In Position Status bit will be set. This bit indicates that the move is complete and the axis is at position.

Target Generator Bits

The Target Generator bits in the Status Bits register indicate which portion of the move the axis is currently in. These bits are useful when programming complex motion sequences.

Target Generator Done bit

This bit indicates that the Target Position has reached the Requested Position. Notice that this bit does not indicate whether the Actual Position has reached the Requested Position.

Target Generator State A and B bits

B	A	Description
0	0	The target generator is complete
0	1	Acceleration
1	0	Constant Velocity
1	1	Deceleration