Set Parameter On-the-Fly

Character: None
Decimal: 208-223
Hexadecimal: 0xD0-0xDF
Command Value: Value of the Parameter

Note: This command is supported in RMC100 CPU firmware dated 19980414 or later.

Each of these commands sets one of the parameters. The following table can be used to determine which command sets which parameter. Reference axes parameters cannot be set on-the-fly. Notice that some parameters can never be set on the fly:

Command		MDT, SSI, Quad, Analog (Position)	Stepper	Pressure/force
Hex	Decimal	Parameter	Parameter	Parameter
0xD0	208	Config. Word	Invalid command	Invalid command
0xD1	209	Scale (2) (4)	Invalid command	Invalid command
0xD2	210	Offset (1)	Coordinate Limit (2)	Invalid command
0xD3	211	Extend Limit (1)	Extend Limit (2)	Invalid command
0xD4	212	Retract Limit (1)	Retract Limit (2)	Invalid command
0xD5	213	Proportional Gain	Compensation Rate (2)	Proportional Gain
0xD6	214	Integral Gain	Compensation Timeout (2)	Integral Gain
0xD7	215	Differential Gain	Invalid command	Differential Gain
0xD8	216	Extend Feed Fwd.	Steps/Rev (2)	Extend Feed Fwd
0xD9	217	Retract Feed Fwd.	Pos. Units/Rev (2)	Retract Feed Fwd
0xDA	218	Extend Acc. Feed Fwd.	Quad Counts/Rev (2)	Integrator Preload (3)
0xDB	219	Retract Acc. Feed Fwd.	Max. Steps/ms (2)	Filter Time Constant (3)
0xDC	220	Dead Band Eliminator	Compensation Window (2)	Invalid command
0xDD	221	In Position Window	In Position Window (2)	Invalid command
0xDE	222	Following Error Window	Following Error Window (2)	Invalid command
0xDF	223	Auto Stop Error Mask	Auto Stop Error Mask (2)	Invalid command

Changing these parameters on-the-fly requires firmware 20000913 or later.
Changing these parameters on-the-fly requires firmware 20001204 or later.
Changing these parameters on-the-fly requires firmware 20020426 or later.
Setting the scale on-the-fly requires that the axis be in open loop.

You will notice that some parameters cannot be changed on the fly. They can be changed by stopping the axis, writing the parameters, and issuing a Set Parameters command.

Warning: Changing any of the gains or feed forwards generates a drive discontinuity in most cases.