Before Tiger v3.20 and Whizkid 9.2l, the KA and KADC commands adjusted the overall servo gain. KADC was primarily used for CRISP. The KA command sets the servo acceleration gain feed forward constant.

The KADC command no longer exists and has been replaced by the LR T command.

Firmware with a compile date prior to November 2016 used the KADC command to set the loop gain. Firmware builds from November 2016 to March 2018 have both KADC and LR T commands which have an identical effect. Note: with LR T the axis character does not need to be specified.