Panasonic MINAS A5 Series Operating Instructions Manual page 307

5. Manual Gain Tuning (Application)
Feed forward function
Usage example of torque feed forward
Positional deviation
Command speed
Usage example of analog torque feed forward
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Motor speed
Velocity feed forward gain = Fixed 100[%]
Torque feed forward
gain
0[%]
50[%]
100[%]
Positional deviation in the
region where acceleration
is constant can be reduced
Time
by torque feed forward.
Torque command [%]
333
200
6 10
Input voltage
200
333
1
2
3
4
5
6
6 10
[V]
7
5-27