Sanyo Denki SANMOTION 3E S, Instruction Manual, Page: 227 / 488

6.6 Model following control function
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Servo Tunin
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6.6.3 Model velocity feed forward differential compensation
This is the function to improve command response of model control system by differential
compensation for feed forward of model control system.
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How to use
 Able to improve a command-following by increasing "Index 0x2068-2 Model velocity
feed forward gain [MFFGN]", at the model following control mode and the model
following vibration suppression control mode.
 Able to improve more a command-following by increasing "Index 0x2068-3 Model
velocity feed forward differential time constant [MTFFD]".
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Model velocity feed forward gain
Sets the compensation value of Model velocity feed forward.

General parameters Group3 “Model following control”
* This function will be disabled when 0% is set.
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Model velocity feed forward differential time constant
Sets the time constant of Model velocity feed forward differential compensation.
 General parameters Group3 “Model following control”
* This function will be disabled when 0.00ms is set.
* This function will be enabled when the value except 0% is set to "Model velocity feed forward
gain [MFFGN]".
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Model velocity feed forward filter
Sets the cutoff frequency of Model velocity feed forward filter.
 General parameters Group3 “Model following control”
* The function is Invalid at 1,000Hz or more.
Index/Sub-Idx Symbol Name Unit Setting range
0x2068/0x02 MFFGN Model velocity feed forward gain % 0 to 100
Index/Sub-Idx Symbol Name Unit Setting range
0x2068/0x03 MTFFD
Model velocity feed forward
differential time constant
ms 0.00 to 10.00
Index/Sub-Idx Symbol Name Unit Setting range
0x2068/0x04 MFFFIL Model velocity feed forward filter Hz 1 to 4000