Kd (derivative constant), Tuning, D(z) = 4 * kp + 4 * kd(z-1)/z + kiz/2 (z-1) – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
KD (Derivative Constant)
[Tuning]
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.
ARGUMENTS: KD x, y, z, w or KDX=x or KD a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
OPERAND USAGE:
_KDn contains the value of the derivative constant where n is an axis letter.
RELATED COMMANDS:
EXAMPLES
While Moving
Yes
Minimum Value
0
In a Program
Yes
Maximum Value
4095.875
Command Line
Yes
Default Value
10
Can be Interrogated
Yes
Default Format
4.2
Used as an Operand
Yes
Distributed Control
Specific Axis
"KP" Proportional
Constant
"KI" Integral
KD 100
Specify KD
KD ?
Return KD
0100.00