SD710 Series Servo Drive Technical Manual Chapter 6 Adjustment
19
6.5.3 Speed feedforward
Speed feedforward is a function that performs feedforward compensation to reduce positioning time during position
control.
Related function codes.
Fn No.
Parameter
Range
Default
Unit
Pn121
Speed feedforward gain
0 to 100
0
%
Pn122
Speed feed-forward filtering time
0 to 64.00
0.00
ms
When the speed feedforward gain is turned on, an increase in the value of the speed feedforward gain improves the
amount of speed following error when the speed control command changes smoothly; if the speed control command
does not change smoothly, a decrease in the value of the gain reduces the operating vibration phenomenon of the
mechanism. When the speed feedforward gain Pn121 is close to 100%, the more complete the precompensation is, the
smaller the dynamic tracking error becomes.
Precautions
●
The speed feedforward gain setting is too large and may cause the unit to vibrate, so set the
value to 80% or less.
●
When the speed feed forward gain Pn121 is set to 0%, the speed feed forward function is
disabled.
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