Ramp to new gain values over time

When an axis is moving, such as running a sine wave, abruptly changing the gains during tuning can cause a jerk in the motion. Attached is a user program that linearly ramps the gains to new values over a user-selected time, resulting in a smoother change.

Import the user program to an RMCTools project. To check that it is working, create a plot template with the gains, trend the plot, and run the user program.

RampToNewGains.rmcprog (5.6 KB)