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11 Adjustment Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11
-12
Feed-forward
Function
11
11
-12-
1 Feed
-forw
ard Co
ntrol in
T
D
F Co
ntrol
11-12 Feed-forward Function
The feed-forward function is used to improve the following performance for the target position and
velocity.
In the normal TDF control, do not add
Velocity offset
(60B1 hex) and
Torque offset
(60B2 hex),
because the optimized feed-forward amount is input from the TDF control section.
The following are the feed-forward setting objects used in the TDF control.
11-12-1 Feed-forward Control in TDF Control
TDF Control-related Objects
Index
(hex)
Subindex
(hex)
Name
Description
Refer-
ence
3120
---
TDF Position Control
Sets the operation in the two-degree-of-freedom position
control.
01
Command Following
Gain
Sets the following performance for the target position.
The higher the gain is, the higher the following performance
of the internal command is for the target position.
10
Command Following
Gain Selection
*1
*1. These objects are available for the unit version 1.1 or later.
Selects the command following gain switching method.
0: Use the Command Following Gain.
1: Use the Command Following Gain 2.
11
Command Following
Gain 2
*1
Sets the cutoff frequency to the position command.
The higher the set value is, the higher the following perfor-
mance of the internal command is for the target position.
3121
---
TDF Velocity Control
Sets the operation in the two-degree-of-freedom velocity
control.
01
Command Following
Gain
Sets the following performance for the target velocity.
The higher the gain is, the higher the following performance
of the internal command is for the target velocity.
10
Command Following
Gain Selection
*1
Selects the command following gain switching method.
0: Use the Command Following Gain.
1: Use the Command Following Gain 2.
11
Command Following
Gain 2
*1
Sets the cutoff frequency to the velocity command.
The higher the set value is, the higher the following perfor-
mance of the internal command is for the target velocity.
Содержание R88D-1SN ECT Series
Страница 544: ...7 Applied Functions 7 52 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 560: ...8 Safety Function 8 16 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 700: ...10 Operation 10 10 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586...
Страница 969: ...AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 I 1 I Index...
Страница 972: ...I 4 AC Servomotors Servo Drives 1S series with Built in EtherCAT Communications User s Manual I586 Appendices...
Страница 973: ......