Yaskawa SMC–4000 - Manual (Page 125)

115
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:
FA (Acceleration Feedforward)
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