Summa Series Servodrive Product Manual
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
Use the general internal torque
feedforward.
Use the high-speed internal torque
feedforward.
Speed Feedforward Filter Time
Torque Feedforward Filter Time
Model Following Control Feedforward
You shall confirm and set that the Model Following Control function has been enabled (Pn150.0=1 or 2),
and then set Pn005.3=1(Use the model following control speed) or Pn005.2=1 (Use the model following
control torque feedforward).
For details on this method, refers to the section 9.5.6 Model Following Control.
Feedforward Set by Controller
The setting of Pn005.3=2 (Use the speed feedforward set by the controller) or Pn005.2=2 (Use the torque
feedforward set by the controller) is only available for EtherCAT Communication.
The relevant objects are 60B1h and 60B2h.
-2147483648 to
2147483647
Feedforward calculated by Cubic Interpolation
The setting of Pn005.3=3 (Use the speed feedforward generated by Cubic interpolation algorithm) or
Pn005.2=3 (Use the torque feedforward generated by Cubic interpolation algorithm) is only available for
EtherCAT Communication.
The relevant object is 60C0h.
Interpolation
sub mode select
9.5.4 Friction Compensation
The load friction must exist in the transmission system. However, severe load friction may cause low-
speed crawling, waveform distortion at speed zero-crossing, positioning lag, etc., which can affect the
dynamic and static performance of the Servo system.
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