Yaskawa SMC–4000 - Manual (Page 147)

137
SMC–4000 User 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 where
x, y z, w, or a, b, c, d are unsigned integers
USAGE:
OPERAND USAGE:
_KDn contains the value of the derivative constant where n is an axis letter.
RELATED COMMANDS:
JP (Jump to Program Location)
KI (Integrator)
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
Virtual Axis No
KD 100 Specify KD
MG_KDX Return KD
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