NSK MEGATORQUE M-ESB-YSB2020AB300 - FD: Feed Back Direction Mode; FF: Feed Forward Gain; FO: Low-Pass Filter off Velocity

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8. Glossary of Command and Parameter
« FD: Feed Back Direction Mode
Format : FD data
Data : 0, or 1
Shipping : 0
Default : 0
l Reverses the output timing between øA and øB of the position feedback signal.
FD0 : Standard øA is the leading phase in CW direction.
FD1 : Reverse øB is the leading phase in CW direction.
l The TS or ?FD command reports the current setting.
« FF: Feed Forward Gain
Format : FF data
Data : 0 to 1.0000
Shipping set : 0
Default : 0
l The FF parameter sets the feed forward compensation gain to the position loop.
l Refer to “7.2.4. Feed Forward Compensation: FF” for details
l Setting 0 cancels the feed forward compensation function.
l The TS or ?FF command reports the current setting
FO: Low-pass Filter Off Velocity
Format : FO data
Data range : 0, and 0.01 to 3.00 [s
-1
]
Shipping set : 0
Default : 0
l Setting FO parameter will make the low pass filter (FP and FS parameters) velocity sensitive.
l The FO parameter sets the threshold that turns on and off the low-pass filter.
l When this function is set, resonating noise may be lowered without affecting on the settling
time.
l Setting FO parameter to “0” will deactivate the velocity sensitive function.
(The low-pass filters are always effective.)
Velocity
Filter ON
FO data
Filter OFF