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B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
7.2.4. Feed Forward Compensation: FF
Parameter: FF (The password is necessary.)
l A velocity command created by differentiating a position command may be fed to the velocity
loop in the forward direction.
l The feed forward compensation improves the tracing delay in acceleration and deceleration.
Table 7-21
Parameter
FF
l The parameter FF sets the feed forward compensation gain.
l If a large parameter data is specified, overshoot may occur frequently though the tracing delay is
improved. The proper data of the FF parameter is approximately 0.5 or less in general.
Figure 7-43
Position
command
Function
Sets the feed forward compensation gain.
Differentiation
Position
loop gain
+
PG
–
Position data
— 7-49 —
7.2. For More Advanced Operation
7.2.4. Feed Forward Compensation: FF
Shipping set
FF0
Feed forward
compensation gain
FF
+
Velocity
+
command +
–
Velocity data
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