222 ● ZR DMC-1400 Series Command Reference
ZR FUNCTION: Zero
DESCRIPTION:
The ZR command sets the compensating zero by changing the KD value in the control loop or
returns the previously set value. It fits in the control equation as follows:
D(z) = GN(z-ZR/z)
ARGUMENTS: ZR n where
n is an unsigned number in the range 0 to 1 decimal with a resolution of 1/256
USAGE:
While Moving Yes Default Value .9143
In a Program Yes Default Format 3.0
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes
Controller Usage DMC-1410/1411/1412/1414/1417
OPERAND USAGE:
_ZR contains the value of the compensating zero.
RELATED COMMANDS:
KD Derivative
KP Proportional
KI Integral Gain
EXAMPLES:
ZR .95 Set zero to 0.95
ZR ? Zero
0.9527