Feed-Forward Function; Objects Requiring Settings - Omron R88M-K User Manual

11-11 Feed-forward Function

The feed-forward function come in 2 types: speed feed-forward and torque feed-forward.
The speed feed-forward can minimize the position error and increase the responsiveness during
position or fully-closed control.
Responsiveness is improved by adding the speed feed-forward value calculated from the internal
position command and related objects (3110 hex and 3111 hex) to the speed command calculated by
comparing the internal position command and the position feedback.
If the Velocity offset (60B1 hex) is set, both the set value and the speed feed-forward valued are added
to the Control effort (60FA hex).
The torque feed-forward can increase the responsiveness of the speed control system.
Responsiveness is improved by adding the torque feed-forward value calculated from the Control effort
(60FA hex) and related objects (3112 hex and 3113 hex) to the torque command calculated by
comparing the Control effort (60FA hex) and the speed feedback.
If the Torque offset (60B2 hex) is set, both the set value and the torque feed-forward valued are added
to the torque command.

11-11-1 Objects Requiring Settings

Index Name
3110 hex Speed Feed-forward Gain
3111 hex Speed Feed-forward
Command Filter
3112 hex Torque Feed-forward Gain
3113 hex Torque Feed-forward
Command Filter
60B1 hex Velocity offset
60B2 hex Torque offset
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
The speed command from position control processing is
added to the product of the Control effort (60FA hex) that is
calculated from the internal position command times the ratio
in this object.
Set the time constant for the first-order lag filter that is applied
to speed feed-forward input.
The torque command from speed control processing is added
to the product of the Control effort (60FA hex) times the ratio in
this object.
Set the time constant for the first-order lag filter that is applied
to torque feed-forward input.
Set the offset for the speed command.
It will be added to the Control effort (60FA hex).
Set the offset for the torque command.
It will be added to the torque command value.
11 Adjustment Functions
Reference
page 9-10
page 9-10
page 9-10
page 9-10
page A-68
page A-68
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