Feedforward Gain - Leadshine EL8-EC Series User Manual

Related parameters
Label
Pr6.05
Range
Activation
To set time for 3
When not in use, set Pr6.05=0, Pr6.06=100
Label
Pr6.06
Range
Activation
Set up the 3
rd st
3 gain= 1
Only effective under position control mode, set Pr6.05≠0, 3
value in Pr6.06. When 2
Pr1.19.
Above diagram is illustrated using Pr1.15 = 7.

6.8 Feedforward gain

In position control, velocity feedforward is calculated by comparing the velocity control
command calculated internally and velocity command calculated from position feedback.
Comparing to control only using feedbacks, this will reduce position deviation and
increase responsiveness. Besides, by comparing the torque needed during motion from
velocity control command in comparison with velocity feedback, torque feedback can be
calculated to improve system responsiveness.
rd
Position 3 gain valid time
0~10000 Unit
Immediate
rd
gain to be valid
rd
Position 3 gain
factor
0~1000 Unit
Immediate
rd
gain by multiplying factor of the 1
Position command velocity
(RPM)
nd
2 gain
Pr1.05~Pr1.09
Position loop gain = Pr1.00 x Pr6.06/100
Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant，Velocity detection filter，Torque filter
time constant still uses 1
gain * Pr6.06/100
nd
gain switches to 1
User manual of EL8-EC***F AC Servo
Mode
0.1ms Default
scale
Mode
100% Default
st
gain
Effective time
Pr6.05 x 0.1ms
rd st
3 gain 1 gain
Pr1.00~Pr1.04
st
gain
rd
st
gain, will go through 3
CS
PP HM
P
0 Index
CS
PP HM
P
100 Index
gain function activated, set 3
rd
, switching time value set in
250
2605h
2606h
rd
gain