Galil Motion Control manc 18x 6 Page 125
DMC-18x6 Command Reference
117
KD
FUNCTION: Derivative Constant
DESCRIPTION:
KD designates the derivative constant in the control filter. The filter transfer function is
D(z) = KP + KD(z-1)/z + KIz/2 (z-1)
For further details on the filter see the section Theory of Operation.
ARGUMENTS: KD n,n,n,n,n,n,n,n or
KDX=n where
n is an unsigned numbers in the range 0 to 4095.875 with a resolution of 1/8.
n = ? Returns the value of the derivative constant for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
64
In a Program
Yes
Default Format
4.2
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_KDn contains the value of the derivative constant for the specified axis.
RELATED COMMANDS:
Integrator
Proportional
EXAMPLES:
KD 100,200,300,400.25
Specify KD
KD ?,?,?,?
Return KD
100.00, 200.00, 300.00, 400.25
Note: KD now has four time more resolution as prior controllers, and thus for the same value is four times
less effective.
