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9-58
Parameters
CR08 Acceleration Feedforward Gain
0000.0
[mA/rad/s
The acceleration feedforward helps to reduce the following error during
the acceleration in lagless mode. To do this, the current acceleration
command value is multiplied by the "acceleration feedforward gain" and
added to the current command value of the velocity loop.
Fig. 9-27: Acceleration Feedforward
Activation:
Writing a value greater than 0 to this parameter activates the acceleration
feedforward.
Note:
The loop also functions without feedforward! (The standard
value equals 0.) Acceleration feedforward is only possible in
lagless mode.
Comparison between the different types of feedforward
The velocity feedforward is activated by selecting an operating mode
with no position lag (following error). This creates (from the standpoint of
the position loop) a feedforward of the 1st order (proportional to
velocity). This means that at constant speed, the position deviation is 0.
Nevertheless, a lag results, during acceleration (and deceleration).
The acceleration feedforward is activated by entering a value greater
than 0 for this parameter. It creates (from the standpoint of the position
loop), a feedforward of the 2nd order (proportional to acceleration). The
position deviation is 0, as long as the correct gain is set and the
acceleration is constant.
ECODRIVE03-FL*-04VRS
2
]
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Besch_reg_1_AE.WMF
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