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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-
2 Feed
-forw
ard Co
ntrol in
ODF
Contr
ol
The feed-forward function that can be used in the ODF control comes in 2 types: velocity feed-forward
and torque feed-forward. In the ODF control, the responsiveness can be increased by changing these
feed-forward amounts.
The following are the feed-forward setting objects used in the ODF control.
Increase the value of
ODF
Velocity Feed-forward
–
Gain
(3112-01 hex) little by little to adjust the gain
so that overshooting does not occur during acceleration/deceleration.
If you set
ODF Velocity Feed-forward - Gain
to 1,000 (100%), the calculated following error will be 0.
However, large overshooting may occur during acceleration/deceleration.
The following error in a constant velocity range gets smaller as you increase the velocity feed-forward
gain.
11-12-2 Feed-forward Control in ODF Control
ODF Control-related Objects
Index
(hex)
Subindex
(hex)
Name
Description
Refer-
ence
3112
---
ODF Velocity
Feed-forward
Sets the velocity feed-forward in the one-degree-of-freedom
control.
01
Gain
Sets the velocity feed-forward gain. Normally, use the
default setting.
02
LPF Enable
Selects whether to enable or disable the low-pass filter in
the velocity feed-forward.
0: Disabled
1: Enabled
03
LPF Cutoff Frequency
Sets the cutoff frequency for the feed-forward low-pass filter.
3113
---
ODF Torque
Feed-forward
Sets the torque feed-forward in the one-degree-of-freedom
control.
01
Gain
Sets the torque feed-forward gain. Normally, use the default
setting.
02
LPF Enable
Selects whether to enable or disable the low-pass filter in
the torque feed-forward.
0: Disabled
1: Enabled
03
LPF Cutoff Frequency
Sets the cutoff frequency for the feed-forward low-pass filter.
Operating Method of ODF Velocity Feed-forward
Present Motor Velocity
Position Command – Motor Velocity
Following error
ODF Velocity FF Gain
0 [%]
50 [%]
80 [%]
Time
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...
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