overshoot and oscillation will occur.
Also, the velocity feed forward to the velocity loop may not be smooth and has some noise signal
inside, so a large velocity feed forward value will also amplify the noise.
Kaff can be calculated by following function:
ACC_％= 6746518 / K_Acc_FF / Easy_Kload * 100
ACC_% This means what percentage will be used for acceleration feedforward.
K_Acc_FF Kaff(60FB.03), calculates the final internal factor of the feedforward.
Easy_Kload Inertia Coefficient in Easy Mode (3040.07) Load coefficient calculated from auto-tuning or direct
user input inertia ratio.
Step 4：Smooth filter adjustment
The smoothing filter is a moving average filter. It filters the velocity commands from the velocity
generator to make the velocity and position commands smoother. Using this filtering causes velocity
and position commands to be delayed in the drive. So for some applications, like CNC, it is better not to
use this filter, but to do the smoothing in the CNC.
Smoothing filters reduce machine influence by smoothing commands. Smoothing Filter (60FB.05)
defines the time constant of this filter in ms. Under normal circumstances, if the machine system vibrates
when starting and stopping, it is recommended to increase the smoothing filter setting.
Step 5：other adjustment
In position mode (operation mode 1), the position loop commend filter control(60FB.04) can be set to
3 to enable the S-curve control. This curve has no command delay and is suitable for long-distance
positioning control. When the speed step of the trapezoidal speed curve is large, it will cause a certain
impact on the mechanical equipment. The S-shaped curve has better flexibility and smooth acceleration
and deceleration, which can effectively overcome the mechanical vibration caused by the sudden change
of speed.
Figure 7-7 S-shaped speed step curve
7.4 Gain switch (Pro mode)
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