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SGAF
Acceleration Feedforward Gain
Type
Tuning
Syntax
<a_><!>SGAF<i>
Units
i = percent
Range
0 – 500
Default
100
Response
SGAF:
*SGAF100
See Also
DMTJ, LJRAT, SFB, SGENB, SGSET, SGVF, TGAIN, TSGSET
Use the
command to set the gain for the acceleration feedforward term in the servo control algorithm.
SGAF
Introducing acceleration feedforward control improves position tracking performance when the system is
commanded to accelerate or decelerate. Acceleration feedforward control does not affect the servo system's
stability, nor does it have any effect at constant velocity.
The
value is multiplied by the commanded acceleration calculated by the GV6K's move profile
SGAF
routine to produce an estimated torque command that is added to the servo control signal. The value is
normalized to the current setting of both the motor inertia and load inertia ratio (
respectively) as shown in the equation below.
Estimated
accelerati
Setting
to 100% will theoretically produce zero following error during the acceleration and
SGAF
deceleration part of a move profile. This assumes that the drive or motor are not being current limited, the
values for inertia are accurate and the models used for analysis are correct. You can adjust the value of
from zero to as high as 5 times or 500% (
SGAF
sets the acceleration feedforward to 200% of theoretical value.
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help
system.
• Check the values of all active gains (
• Creating and invoking gain sets: see
SGENB
Enable a Servo Gain Set
Type
Tuning
Syntax
<a_><!>SGENB<i>
Units
i = gain set identification number (see SGSET command)
Range
1 – 3
Default
n/a
Response
n/a
See Also
SFB, SGAF, SGSET, SGVF, TGAIN, TSGSET
allows you to enable one of the three gain sets. The gain sets are established with the
SGENB
command. A gain set can be enabled during motion at any specified point in the profile, or when not in
motion. For example, you could use one set of gain parameters for the constant velocity portion of the
profile, and when you approach the target position a different set of gains can be enabled.
(
=
+
on torque
DMTJ
1
LJRAT
1
4
4
4
2
4
=
SGAF
value
100%
) of the theoretical value. For example,
SGAF500
is one of many servo gains): use
SGAF
,
,
SGSET
SGENB
TGAIN
www.comoso.com
Product
GT6K
GV6K
(applicable only to
servo axes)
and
DMTJ
LJRAT
)
⋅
accelerati
on
command
4
4
3
TGAIN.
,
TSGSET.
Product
GT6K
GV6K
(applicable only to
servo axes)
Command Descriptions
Rev
n/a
6.0
,
SGAF200
Rev
n/a
6.0
SGSET
261
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