Optima DMC-1xxx and DMC-18x2 Command Reference
DV
i
68
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 EXCEPT DMC-18x2
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.
"KD "
Damping constant
"
FV
" Velocity
feedforward
