Galil Motion Control DMC-40x0 Series User Manual

140 ● KD DMC-40x0 Command Reference
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:
KI Integrator
KP 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.

Galil Motion Control DMC-40x0 Series Specifications

General

Brand	Galil Motion Control
Model	DMC-40x0 Series
Category	Controller
Language	English