appendix1‑4
14
Position feed forward percentage
Specifies the position feed forward value of the position control section of the servo loop.
0
126
90
Min:
Max:
Initial:
Unit:
%
Pos̲FF
Dec
15
Velocity feed forward percentage
Specifies the velocity feed forward value of the velocity control section of the servo loop.
0
126
100
Min:
Max:
Initial:
Unit:
%
Vel̲FF
Dec
16
Acceleration feed forward percentage
Specifies the acceleration feed forward value. This parameter calculates the internal gain based on
the load inertia/load mass.
0
200
0
Min:
Max:
Initial:
Unit:
%
Acc̲FF
Dec
18
Maximum position error in the (+) direction
Specifies the maximum allowable error in the positive direction before an error is detected.
1
999999
depend on motor.driver type
Min:
Max:
Initial:
Unit:
Pulse
Initial value: 5% of motor resolution
Pe
Dec
19
Maximum position error in the (‑) direction
Specifies the maximum allowable error in the negative direction before an error is detected.
‑999999
‑1
depend on motor.driver type
Min:
Max:
Initial:
Unit:
pulse
Initial value: ‑(5% of motor resolution)
PerrLimit‑
Dec
TI 71M01D06‑01E 2nd Edition : 2007.01.10‑00