6.3 Torque Feedforward Function
6.3.2 Setting Parameters
6-8
6.3.2
Setting Parameters
This section describes the parameters that are related to the torque feedforward reference.
Pn81F (Position Control Command TFF/TLIM Allocation)
You must set Pn81F (Position Control Command TFF/TLIM Allocation) to use the torque feed-
forward reference. (The torque limit is enabled for the default setting.)
Pn426 (Torque Feedforward Average Movement Time)
If the communications cycle with the host controller is slow, the torque feedforward reference
may be applied stepwise as shown on the left in the following figure.
You can set Pn426 (Torque Feedforward Average Movement Time) to a suitable value to create
a smooth torque feedforward reference, as shown on the right in the above figure.
As a guideline, set Pn426 to the same value as the communications cycle.
Parameter
Meaning
Pn81F =
n.
X
Position Control Command TFF/TLIM Allocation
n.
1
Enable allocation. (The operation for TFF/TLIM is set in Pn002.)
Pn426
Torque Feedforward Average Movement Time
Setting Range
Setting Unit
Default Setting When Enabled
Classification
0 to 5,100
–
0
Immediately
Setup
X
V
V
X
Communication
s
cycle
S
peed
Po
s
ition