Table of Contents
Advertisement
6
SPEED FEED FORWARD CONTROL FUNCTION
This function calculates a speed command required to drive the servo motor based on the position command in the position
mode, and preset the calculated speed command to decrease the droop pulses at a constant speed. This function is
recommended for increasing the path accuracy and shortening the settling time.
6.1
Method for setting the speed feed forward
Setting a value in [Pr. PB04 Feed forward gain] enables the speed feed forward.
The droop pulses at a constant speed decrease in accordance with the value in [Pr. PB04], as shown in the following.
Number of droop pulses [pulse] =
Droop pulses
When [Pr. PB04] is set to "100", a large overshoot occurs at acceleration/deceleration although the droop pulses at a constant
speed become "0".
6 SPEED FEED FORWARD CONTROL FUNCTION
88
6.1 Method for setting the speed feed forward
Position command frequency [pulse/s]
Model control gain setting value
[Pr. PB04 Feed forward gain] = 0
[Pr. PB04 Feed forward gain] = 50
[Pr. PB04 Feed forward gain] = 70
100 - Feed forward gain [%]
×
100
Advertisement
Table of Contents
