Yaskawa LEGEND-MC - Manual (Page 106)

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LEGEND-MC User’s Manual
DV (Dual Velocity (Dual Loop))
[Configuration]
DESCRIPTION:
The DV function changes the operation of the PID servo loop. It causes the KD (derivative) term to operate
on the motor, and the KP (proportional) term and the KI (integral) term to operate on the dual encoder. This
results in improved stability in the cases where there is a backlash between the motor and the main encoder,
and where the dual encoder is mounted on the motor. See the example section.
ARGUMENTS: DV x, y, z, w or DVX=x or DV a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
n may be 0 or 1. 0 disables the function. 1 enables the dual loop.
USAGE:
OPERAND USAGE:
_DVn contains the state of dual velocity mode where n is an axis letter and 0 = disabled, 1 = enabled.
RELATED COMMANDS:
EXAMPLES:
NOTE: The DV command is useful in backlash and resonance compensation.
While Moving Yes Minimum Value 0
In a Program Yes Maximum Value 1
Command Line Yes Default Value 0
Can be Interrogated Yes Default Format 1
Used as an Operand Yes Distributed Control Specific Axis
"KD" Damping constant
"FV" Velocity feedforward
DV 1 Enables dual loop PID
DV 0 Disables DV