Galil Motion Control DMC-40x0 Series User Manual

86 ● DV DMC-40x0 Command Reference
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.
KD Damping constant
FV Velocity feedforward

Galil Motion Control DMC-40x0 Series Specifications

General

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