Galil DMC-1400 manual DV

DMC-1400 Series Command Reference DV ● 71
DV
FUNCTION: Dual Velocity (Dual Loop)
DESCRIPTION:
The DV function changes the operation of the PID servo filter. It causes the KD (derivative)
term to operate on the dual encoder instead of the main encoder. To take advantage of
this mode, mount the main encoder to the load and the dual encoder to the motor.
ARGUMENTS: DVn where
n may be 0 or 1. 0 disables the function. 1 enables the dual loop.
“?” returns a 0 if dual velocity mode is disabled and 1 if enabled for the specified axis.
USAGE:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Can be Interrogated No
Used as an Operand Yes
Controller Usage ALL
OPERAND USAGE:
_DV contains the state of dual velocity mode. 0 = disabled, 1 = enabled
RELATED COMMANDS:
KD Damping constant
FV Velocity feedforward
EXAMPLES:
DV 1 Enables dual loop
DV 0 Disables DV
HINT: The DV command is useful in backlash and resonance compensation.