Summa Series Servodrive Product Manual
Tuning
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
9-32
Parameter Setting
Meaning
When Enabled Classification
Pn005.3
0 [Default]
Use the internal speed feedforward.
After restart
Function
1
Use the model following control
speed feedforward, which is
available when Model Following
Control Selection (Pn150.0) is
enabled.
2
Use the speed feedforward set by
the controller, which is available in
the bus control and set by the object
60B1h.
3
Use the speed feedforward
generated by Cubic interpolation
algorithm, which is available when
the object 60C0h is set to Cubic
interpolation algorithm in bus
control.
Pn005.2
0 [Default]
Use the internal torque feedforward.
1
Use the model following control
torque feedforward, which is
available when Model Following
Control Selection (Pn150.0) is
enabled.
2
Use the torque feedforward set by
the controller, which is available in
the bus control and set by the object
60B2h.
3
Use the torque feedforward
generated by Cubic interpolation
algorithm, which is available when
the object 60C0h is set to Cubic
interpolation algorithm in bus
control.
Internal Feedforward
In order to reduce the overshoot caused by the feedforward when the setting of Pn005.3 or Pn005.2 is 0, it
is necessary to set Speed Feedforward (Pn112) or Torque Feedforward (Pn114) to adjust the feedforward
compensation value.
Internal Speed Feedforward
＝
Differential of position reference × Speed Feedforward
Internal Torque Feedforward
＝
Differential of speed reference × Load Inertia Percentage × Torque
Feedforward
In addition, it is required to filter the noise caused by the differential for the feedforward. You can
increase the Filter Time for the feedforward, the noise can be filtered better, but overshooting may be
occurred.
In the case of high rotation speed, you shall set Pn005.0 to 2 and Pn005.2=0.
