Fv (velocity feedforward), Setting – Yaskawa SMC–4000 User Manual
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SMC–4000 User 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 x 10
-6
x FV x 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 where
x, y, z, w, or a, b, c, d 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
Virtual Axis
No
FV 10
Set feedforward coefficients to 10
JG 30000
This speed produces 0.366 volts of torque
offset (1.22 X 10
-6
∗ 10 ∗ 30000).
FV ?
Return the value
010