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№SR-ZSV00039 － 45 －
specified at approximately 50 (0.5 ms).
Increasing torque feed forward gain can make position deviation closer to "0" under a constant accelera-
tion/deceleration. Therefore, under ideal conditions with no influence from disturbance torque, posi-
tion deviation can be almost "0" for all operating ranges in operations of a trapezoid speed pattern.
Position deviation
Fix Speed FF gain = 100%
Motor speed
Torque FF gain
Command speed
0[%]
50[%]
Time
100[%]
Torque feed forward can be reduced the position deviation in constant acceleration.
However, under actual conditions, position deviation does not become completely "0" because there is
always disturbance torque
Just as the case with velocity feed forward, specifying a larger time constant for torque feed forward
filter reduces operating noises. However, it makes position deviation larger at a changing point of
acceleration.
Motor Business Unit, Appliances Company, Panasonic Corporation
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