Adjustment
158
Acceleration feedforward exceptions correction
7.9.4
When a position command issued by the upper system is lost in a communication cycle due to interference or other
reasons, the velocity feedforward and acceleration feedforward will thus become abnormal, affecting the following
performance of the motor. The parameter [Acceleration Feedforward Correction Threshold] can be used to correct the
abnormal situation and make the system run smoothly. When the acceleration feedforward value exceeds the set value of this
parameter, the drive automatically corrects the acceleration feedforward and velocity feedforward.
acceleration
feedforward
velocity
feedforward
Position demand
Before correcting
After correcting
Acceleration
Feedforward Correction
Threshold
Acceleration
Feedforward Correction
Threshold
The parameters for setting the [acceleration feedforward exception correction] function are as follows.
Index
Name
Unit
Setting range
Default value
effective
Period
0x20D5
Acceleration feedforward
correction threshold
AccUnit
0-4294967295
0
Immediately
Y
1.
The parameter value must be set reasonably according to the actual trajectory planning. While a too
small value will affect the following performance, a too high value will prevent the correction of the
acceleration feedforward exceptions.
2.
When the value is set to 0, the function of automatic acceleration feedforward exception correction
is disabled.
Summary of Contents for CoolDrive Series
Page 29: ...Preface 17 T2 model ...
Page 30: ...Preface 18 T3 model ...
Page 31: ...Preface 19 T4 model ...
Page 230: ...Monitoring 218 ...
