Yaskawa LEGEND-MC - Manual (Page 127)

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LEGEND-MC User’s Manual
FV (Velocity Feedforward)
[Setting]
DESCRIPTION:
The FV command sets the velocity feedforward coefficient, or returns the previously set value. This
coefficient generates an output bias signal in proportion to the commanded velocity.
Velocity feedforward bias = 1.22 ⋅ 10 -6 ⋅ FV ⋅ Velocity [in ct/s].
For example, if FV=10 and the velocity is 200,000 count/s, the velocity feedforward bias equals 2.44 volts.
ARGUMENTS: FV x, y, z, w or FVx=x or FV a, b, c, d, e, f, g, h where
x, y, z, w, or a ,b, c, d, e, f, g, h are unsigned numbers
USAGE:
OPERAND USAGE:
_FV contains the velocity feedforward coefficient where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Minimum Value 0
In a Program Yes Maximum Value 8192
Command Line Yes Default Value 0
Can be Interrogated Yes Default Format n/a
Used as an Operand Yes Distributed Control Specific Axis
"FA" Acceleration feedforward
FV 10 Set feedforward coefficients to 10
JG 30000 This speed produces 0.366 volts of torque
offset (1.22 X 10
-6
X 10 X 30000).
FV ? Return the value
010