6-44
6-13 Model tracking control
Model tracking control can improve system response and shorten positioning time.
The position command is sent through the upper device, then controlled by model tracking. The
reference position command, speed feedforward and torque feedforward are outputted to the
instruction terminal of the various circuits and added to the original instructions to improve
system response.
tn844 Position circuit feedforward gain
Initial Value Unit Setting Range Effective RS-485 Address
0
%
0 ~ 100 Effective after Set
132CH
Setting description: “Same as Pn312” It can reduce the following error for position control and
increase response speed. If the feedforward gain is too big, it may cause speed
overshoot and output contact INP (positioning complete signal) to turn on and
off repeatedly.
tn849 Speed feedforward differential gain
Initial Value Unit Setting Range Effective RS-485 Address
100
--
0 ~ 1000 Effective after Set
1331H
Setting description: The estimated compensation value of speed feedforward; it can improve system
response. It is recommended to set it to the default value.
tn850.0: Model tracking control flag
tn851: Model tracking control gain
tn844: Speed feedforward gain
tn849: Speed feedforward differential gain
tn851: Model tracking forward torque
feedforward gain
tn852: Model tracking reverse torque
feedforward gain
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