6.4 Speed Feedforward Function
6.4.2 Setting Parameters
6-10
6.4.2
Setting Parameters
Speed Feedforward Average Movement Time (Pn30C)
If the communications cycle with the host controller is slow, the speed feedforward reference
may be applied stepwise as shown on the left in the following figure.
You can set Pn30C (Speed Feedforward Average Movement Time) to a suitable value to create
a smooth speed feedforward reference, as shown on the right in the above figure.
As a guideline, set Pn30C to the same value as the communications cycle.
Pn30C
Speed Feedforward Average Movement Time
Setting Range
Setting Unit
Default Setting When Enabled
Classification
0 to 5,100
–
0
Immediately
Setup
v
t
t
v
Communication
s
cycle
Position