DMC-18x6 Command Reference
70
DV
FUNCTION: Dual Velocity (Dual Loop)
DESCRIPTION:
The DV function changes the operation of the filter. It causes the KD (derivative) 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.
ARGUMENTS: DV n,n,n,n,n,n,n,n
or
DVX=n
where
n = 0 Disables the dual loop mode.
n = 1 Enables the dual loop mode.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
-----
Command Line
Yes
Controller Usage ALL CONTROLLERS
OPERAND USAGE:
_DVn contains the state of dual velocity mode for specified axis. 0 = disabled, 1 = enabled.
RELATED COMMANDS:
EXAMPLES:
DV 1,1,1,1
Enables dual loop on all axes
DV 0
Disables DV on A axis
DV,,1,1
Enables dual loop on C axis and D axis. Other axes remain unchanged.
DV 1,0,1,0
Enables dual loop on A and C axis. Disables dual loop on B and D axis.
MG_DVA
Returns state of dual velocity mode for A axis
Hint: The DV command is useful in backlash and resonance compensation.
Damping constant
Velocity feedforward
