Yaskawa SMC–4000 - Manual (Page 103)

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SMC–4000 User Manual
DV (Dual Velocity (Dual Loop))
[Configuration]
DESCRIPTION:
The DV function changes the operation of the PID servo loop. It causes the KD (Derivative Constant) term
to operate on the dual encoder instead of the main 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 where
x, y z, w, or a, b, c, d are unsigned integers
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:
KD (Derivative Constant)
FV (Velocity Feedforward)
EXAMPLES:
HINT: 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
Virtual Axis No
DV 1 Enables dual loop PID
DV 0 Disables DV