Galil DMC-1400 KD

DMC-1400 Series Command Reference KD ● 119

FUNCTION: Derivative Constant

DESCRIPTION:

KD designates the derivative constant in the controller filter. The filter transfer function is

D(z) = 4⋅KP + 4

⋅

KD(z-1)/z + KIz/2 (z-1)

For further details on the filter see the section Theory of Operation in the product manual.

ARGUMENTS: KD n where

n is an unsigned number in the range 0 to 4095.875 with a resolution of .125

“?” returns the value of the derivative constant

USAGE:

While Moving Yes Default Value 64

In a Program Yes Default Format 4.2

Command Line Yes

Can be Interrogated Yes

Used as an Operand Yes

Controller Usage ALL

OPERAND USAGE:

_KD contains the value of the derivative constant.

RELATED COMMANDS:

KP Proportional Constant

KI Integral

EXAMPLES:

KD 100 Specify KD

KD ? Return KD

0100.00

Contents

Main DMC-1400 Series DMC-1400 Series Command Reference By Galil Motion Control, Inc. Page Contents Page Page Page Page Page Overview Controller Notation Servo and Stepper Motor Notation: Command Descriptions Arguments Operand Usage Usage Description Default Description Controller Usage Servo Update Rates Fast Firmware (DMC-1415/1416/1425) Commands which are not Allowed when Operating in Fast Mode: Commands which are Altered when Operating in Fast Mode: # $ & | ( ) n is a math (+ - * /) or logical (& |) expression ; n is a Galil command [ ] + - * / <, >, =, <=, >=, <> = mmmmmmmm is a variable name and n is a signed number in the range - 2147483648 to 2147483647 AB @ABS[n] AC @ACOS[n] AD AF AI AL AM @AN[n] n is an unsigned integer in the range 1 to 8 AO AP AR AS @ASIN[n] n is a signed number in the range -1 to 1. AT @ATAN[n] #AUTO #AUTOERR AV BA BB BC BD BG BI BK BL BM BN BO BP BS BV BZ CB CC CD CE CF CI CM #CMDERR CN CO @COM[n] #COMINT @COS[n] CR CS CW DA DC DE DL DM DP DT DV EA EB EC ED EG EI ELSE EM EN Page ENDIF EO EP EQ ER ES ET FA FE FI FL @FRAC[n] FV GA GN GM GR HM HX IA IF IH Page II Page IL IN Page @IN[n] n is an unsigned integer in the range 1 to 96 #ININT @INT[n] n is a signed number in the range -2147483648 to 2147483647. IP IT IV Bit Number Condition JG JP JS KD KI KP KS LA LE _LF* *This is an Operand - Not a command. LI Page #LIMSWI RE1 LL LM _LR* LS LV LZ MB Page MC #MCTIME MF MG MO MR MT NB 16()TM NF 4()TM where TM is the update rate (default TM is 1 msec). n ranges from 1 Hz to NO NZ 16()TM OB OC OE OF OP Page @OUT[n] n is an unsigned integer in the range 1 to 80 P1CD P2CD P1CH P2CH P1NM P2NM P1ST P2ST #POSERR PA PF PR QD QR QU QZ RA RC RD RE REM n is a text string comment RI RL @RND[n] n is a signed number in the range -2147483648 to 2147483647. : RP RS <control>R<control>S <control>R<control>V SA SA n SB SC SH @SIN[n] SL SP @SQR[n] ST @TAN[n] TB TC USAGE: OPERAND USAGE: _TC contains the value of the error code. EXAMPLES: #TCPERR TD TE TH TI TIME* TL TM TP TR TS TT TV TW UI UL VA VD VE VF VM VP VR VS VT WC WH WT XQ ZR ZS Page Index