Feed-Forward Function - Omron R88D-KN01L-ECT-L User Manual

11 Adjustment Functions

11-10Feed-forward Function

The feed-forward function come in 2 types: speed feed-forward and force feed-forward.
The speed feed-forward can minimize the Following Error Actual Value and increase the
responsiveness during the position 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 force feed-forward can increase the responsiveness of the speed control system.
Responsiveness is improved by adding the force feed-forward value calculated from the Control effort
(60FA hex) and related objects (3112 hex and 3113 hex) to the force 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 force feed-forward valued are added to
the force command.
11-10-1 Objects Requiring Settings
Index
3110 hex Speed Feed-forward Gain
3111 hex Speed Feed-forward
Command Filter
3112 hex Force Feed-forward Gain
3113 hex Force Feed-forward
Command Filter
60B1 hex Velocity offset
60B2 hex Torque offset
11 - 32
Name
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 force 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 force 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 force command.
This object corresponds to the Force Feed-forward object
in Cyclic synchronous position mode (csp) or Cyclic
synchronous velocity mode (csv).
It will be added to the force command value.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Description Reference
P. 9-10
P. 9-10
P. 9-10
P. 9-11
P. A-68
P. A-69