Yaskawa MP900 Series Machine Controller New Ladder Editor - Manual (Page 143)

1.7 DDC Instructions
1-133
1
Block Diagram
• When the change in deviation output (X-X’) and the previous deviation input (X’)
are the same in sign (diverging) in the differential (D) operation
The divergence differential time (Td1) is used as the differential time.
• When the change in deviation output (X-X’) and the previous deviation input (X’)
are opposite in sign (converging) in the differential (D) operation
The convergence differential time (Td2) is used as the differential time.
„ Format
„ Parameter
Parameter Name Setting
Input • Any integer type and real number type register
• Any integer type and real number type register with subscript
• Subscript register
• Constant
Parameter • Register address (except for # and C registers)
• Register address with subscript (except for # and C registers)
Output • Any integer type and real number type register (except for #
and C registers)
• Any integer type and real number type register with subscript
(except for # and C registers)
• Subscript register
Input
X
Output
Y
LIMIT, DB +
-
+
+
Td/Ts
Z -1
K p
Kd
Symbol: PD
Full Name: PD Control
Category: DDC
Icon: