Parameter Manual
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
237
Machine data
2.4 Axis-specific machine data
Description: FFW_MODE defines the feedforward control mode to be applied on an axis-spe-
cific basis:
0 = No feedforward control
1 = Speed feedforward control with PT1 balancing
2 = Torque feedforward control (only for SINAMICS) with PT1 balancing
3 = Speed feedforward control with Tt balancing
4 = Torque feedforward control (only for SINAMICS) with Tt balancing
The high-level language instructions FFWON and FFWOF are used to activate and
deactivate feedforward control for specific channels on all axes.
To prevent feedforward control from being affected by these instructions on
individual axes, you can define that it is always activated or always deacti-
vated in machine data FFW_ACTIVATION_MODE (see also FFW_ACTIVATION_MODE).
Torque feedforward control must be activated via the global option data
OD19400 $ON_FFW_MODE_MASK.
If a feedforward control mode is selected (speed or torque feedforward con-
trol), MD32630 $MA_FFW_ACTIVATION_MODE can be used to program in addition
whether feedforward control can be activated or deactivated by the part pro-
gram.
Note for SINAMICS drives with torque feedforward control selected:
Alarm 26016 refers to the current machine data if
the telegram used (see MD13060 $MN_DRIVE_TELEGRAM_TYPE) does not support the
torque feedforward control function. Remedy: Use telegram 136.
Torque feedforward control is an option that must be activated.
Related to:
MD32630 $MA_FFW_ACTIVATION_MODE
MD32610 $MA_VELO_FFW_WEIGHT
MD32650 $MA_AX_INERTIA
32620 FFW_MODE A07, A09 G1,K3,S3,G2,S1
- Feedforward control mode BYTE Reset
-
-- 3 0 4 1/1
Siemens Controls
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