Panasonic MINAS A6 Multi Series Technical Reference page 128

5.2.9 Feed forward function
 When position control or full closed control is used, positional deviation can be further reduced when
compared with deviation where control is made only by feedback, and response is also improved, by
calculating the velocity control command necessary for operation based on the internal positional command,
and by adding velocity feed forward to the velocity command calculated by comparison with position
feedback. In EtherCAT communication, speed feedforward can be set up at 60B1h/68B1h (Velociy offset)
apart from this.
 The response time of the velocity control system is also improved by calculating torque command necessary
for operation based on the velocity control command and by adding torque feed forward calculated by
comparison with velocity feedback to the torque command. In EtherCAT communication, torque feedforward
can be set up by 60B2h/68B2h (Torque offset) apart from this.
 The feed forward given through EtherCAT communication is added to the feed forward value (internally
calculated according to the parameter setting).
Relevant parameters
For MINAS A6 Multi series, the velocity feed forward and torque feed forward can be used.
 Relevant parameters
Class No. Attribute
1 10 B
1 11 B
1 12 B
1 13 B
Title Range
Velocity feed 0 to 4000 0.1%
forward gain
Velocity feed 0 to 6400 0.01 ms Set the time constant of 1st delay filter which affects the input of
forward filter
Torque feed 0 to 2000 0.1%
forward gain
Torque feed 0 to 6400 0.01 ms Set up the time constant of 1st delay filter which affects the
forward filter
Unit Function
Multiply the velocity control command calculated according to
the internal positional command by the ratio of this parameter
and add the result to the velocity command resulting from the
positional control process.
velocity feed forward.
It becomes invalid in two-degree-of-freedom control mode.
Multiply the torque command calculated according to the
velocity control command by the ratio of this parameter and add
the result to the torque command resulting from the velocity
control process.
input of torque feed forward.
Auto Tuning Functions
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