Kd (derivative constant), Tuning, D(z) = 4 * kp + 4 * kd(z-1)/z + kiz/2 (z-1) – Yaskawa LEGEND-MC User Manual

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LEGEND-MC User’s Manual

KD (Derivative Constant)

[Tuning]

DESCRIPTION:

KD designates the derivative constant in the controller filter. The filter transfer function is

D(z) = 4 * KP + 4 * KD(z-1)/z + KIz/2 (z-1)

For further details on the filter see the section Theory of Operation.

ARGUMENTS: KD x, y, z, w or KDX=x or KD 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

USAGE:

OPERAND USAGE:

_KDn contains the value of the derivative constant where n is an axis letter.

RELATED COMMANDS:

EXAMPLES

While Moving

Yes

Minimum Value

In a Program

Yes

Maximum Value

4095.875

Command Line

Yes

Default Value

Can be Interrogated

Yes

Default Format

4.2

Used as an Operand

Yes

Distributed Control

Specific Axis

"KP" Proportional

Constant

"KI" Integral

KD 100

Specify KD

KD ?

Return KD

0100.00