Galil Motion Control DMC-40x0 Series - Page 121

DMC-40x0 Command Reference FV • 111
FV
FUNCTION: Velocity Feedforward
DESCRIPTION:
The FV command sets the velocity feedforward coefficient, or returns the previously set value.
This coefficient generates an output bias signal in proportions to the commanded velocity.
Velocity feedforward bias = 1.22 ⋅ 10
-6 ⋅
FV ⋅ Velocity [in cts/s].
FV operates when commanding motion with PA, PR, JG, VM, LM, and CM.
For example, if FV=10 and the velocity is 200,000 count/s, the velocity feedforward bias equals
2.44 volts.
ARGUMENTS: FV n,n,n,n,n,n,n,n or FVA=n where
n is an unsigned numbers in the range 0 to 8191 decimal
n = ? Returns the feedforward velocity for the specified axis.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 4.0
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_FVn contains the feedforward velocity for the specified axis.
RELATED COMMANDS:
FA Acceleration Feedforward
EXAMPLES:
FV 10,20 Set feedforward coefficients to 10 and 20 for A and B
respectively
JG 30000,80000 This produces 0.366 volts for A and 1.95 volts for B.
FV ?,? Return the A and B values.
010,020