Feed-Forward Function; Objects Requiring Settings - Omron OMNUC G5 Series User Manual

11-11 Feed-forward Function

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).
11
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.

Objects Requiring Settings

Index
3110 hex Speed Feed-forward Gain
Speed Feed-forward
3111 hex
Command Filter
3112 hex Torque Feed-forward Gain
Torque Feed-forward
3113 hex
Command Filter
60B1 hex Velocity offset
60B2 hex Torque offset
11-29
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 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.
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description Reference
page 9-9
page 9-10
page 9-10
page 9-10
page 6-45
page 6-46