№
SR-ZSV00039
－
45
－
Motor Business Unit, Appliances Company, Panasonic Corporation
specified at approximately 50 (0.5 ms).
Increasing torque feed forward gain can make position deviation closer to “0” under a constant accelera-
tion/deceleration. Therefore, under ideal conditions with no influence from disturbance torque, posi-
tion deviation can be almost “0” for all operating ranges in operations of a trapezoid speed pattern.
Command speed
Position deviation
Motor speed
Torque feed forward can be reduced the position deviation in constant acceleration.
Fix Speed FF gain = 100%
100[%]
0[%]
Torque FF gain
50[%]
Time
However, under actual conditions, position deviation does not become completely “0” because there is
always disturbance torque
Just as the case with velocity feed forward, specifying a larger time constant for torque feed forward
filter reduces operating noises. However, it makes position deviation larger at a changing point of
acceleration.
