Torque Feedforward Control - Only 840D Sl (Option) - Siemens SINUMERIK 840D sl Function Manual

Example
Part program to set the equivalent time constants for the X axis
Program code
MD32300 $MA_MAX_AX_ACCEL=0,1
MD32000 $MA_MAX_AX_VELO=20000.0
; Part program for setting the equivalent time constant
G1 F20000
FFWON
LOOP:
X1000
X0
GOTOB LOOP
M30
5.5.3

Torque feedforward control - only 840D sl (option)

Function
In the case of torque feedforward control, an additional current setpoint proportional to the
torque is applied directly to the current controller input. This value is formed using the
acceleration and moment of inertia.
Application
Torque feedforward control is required to achieve high contour accuracy where the demands
on the dynamics are great. If set correctly, the following error can almost be completely
compensated even during high acceleration.
Extended Functions
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
5.5 Dynamic feedforward control (following error compensation)
Comment
; Unit: m/s2
; Unit: mm/min
K3: Compensation
403