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6-50
6-16 Feed-forward Function
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
Applied Functions
6-16 Feed-forward Function
Outline of Operation
The feed-forward function come in 2 types, speed feed forward and torque feed forward.
The speed feed forward can minimize the position error and increase the responsiveness by
calculating the speed control command that is required for the operation based on the internal
positioning command during position or full closing control, and adding it to the speed
command that is calculated based on the comparison with the position feedback.
The torque feed forward can increase the responsiveness during speed control by calculating
the torque command that is required for the operation based on the speed control command,
and adding it to the torque command that is calculated based on the comparison with the
speed feedback.
Parameters Requiring Settings
Parameter
number
Parameter name Explanation Reference
Pn110
Speed Feed-forward
Amount
Use this parameter to add the speed control
command calculated from the internal positioning
command that is multiplied by this parameter's ratio
to the speed command from the position control
process.
P.8-11
Pn111
Speed Feed-forward
Command Filter Set the time constant for the first-order lag filter that
is applied to speed feed-forward inputs.
P.8-11
Pn112
Torque Feed-forward
Amount
Use this parameter to add the torque command
calculated from the speed control command that is
multiplied by this parameter's ratio to the torque
command from the speed control process.
P.8-12
Pn113
Torque Feed-forward
Command Filter Set the time constant for the first-order lag filter that
is applied to torque feed-forward inputs.
P.8-12
Pn600
Analog Torque Feed-
forward Gain Setting Set the input gain for analog torque feed forward.
0 to 9 will be disabled.
P.8-59
Pn610 Setting of Each Function Set the bits related to inertia ratio switching. P.8-59