Omron G5 R88D-KE Series, User Manual

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6 Applied Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
6
-15 F
eed-f
o
rwar
d
Fu
nction
6
6-15-1 Outline
of the Fu
nction
6-15 Feed-forward Function
The feed-forward function comes in 2 types: speed feed-forward and torque feed-forward.
Speed feed-forward can minimize the position error and improve the responsiveness in the position
control mode by calculating the speed control command required for operation from the internal position
command and then adding it to the speed command calculated by comparison with the position
feedback value.
By contrast, torque feed-forward improves the responsiveness in the speed control mode by calculating
the torque command required for operation from the speed control command and then adding it to the
torque command calculated by comparison with the speed feedback value.
6-15-1 Outline of the Function
6-15-2 Parameters Requiring Settings
Parameter
No.
Name Description Reference
Pn110 Speed Feed-forward Amount The speed control command value calculated from the
internal position command is multiplied by the ratio set in
this parameter and added to the speed command value
from the position control process. P.7-13
Pn111 Speed Feed-forward
Command Filter Set the time constant for the first-order lag filter that is
applied to speed feed-forward input. P.7-13
Pn112 Torque Feed-forward Amount The torque command value calculated from the speed
control command is multiplied by the ratio set in this
parameter and added to the torque command value from
the speed control process. P.7-13
Pn113 Torque Feed-forward
Command Filter Set the time constant for the first-order lag filter that is
applied to torque feed-forward input. P.7-13
Pn610 Function Expansion Setting Set the bits related to the inertia ratio switching function. P.7-56