8.6 Servo Gain Adjustment Functions
8-23
8.6 Servo Gain Adjustment Functions
8.6.1 Feed Forward Reference
1
Feed-forward Control
Feed-forward control is a control method that makes necessary control corrections in advance before the control system is
affected by an external disturbance. Feed-forward control can increase the effective servo gain and improve the
responsiveness of the system.
Pn109 Feed Forward
Setting Range Setting Unit Factory Setting Setting Validation
0% to 100% 1% 0% Immediately
Pn10A Feed Forward Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0.00 to 64.00 ms 0.01ms 0.00ms Immediately
Applies feed-forward
control
1
compensation in position control
inside the
SERVOPACK. Use this parameter to shorten
positioning time. Too high value may cause the machine to vibrate.
For ordinary machines, set 80% or less in this parameter.
Position
Position
Position
reference pulse
Encoder feedback pulse
+
+
+
-
Position loop
gain Kp
Pn109 Pn10A
Differ-
ential
TERMS
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