Omron R88D-KN series User Manual

11 Adjustment Functions
11-30
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
11-10 Feed-forward Function
The feed-forward function comes in 2 types: speed feed-forward and force feed-forward.
The speed feed-forward can minimize the position error and increase the responsiveness during the
position control.
Responsiveness is improved by adding the speed feed-forward value calculated from the internal
position command and related objects (3110 hex and 3111 hex) to the speed command calculated by
comparing the internal position command and the position feedback.
If the Velocity offset (60B1 hex) is set, both the set value and the speed feed-forward valued are added
to the Control effort (60FA hex).
The force feed-forward can increase the responsiveness of the speed control system.
Responsiveness is improved by adding the force feed-forward value calculated from the Control effort
(60FA hex) and related objects (3112 hex and 3113 hex) to the force command calculated by
comparing the Control effort (60FA hex) and the speed feedback.
If the Torque offset (60B2 hex) is set, both the set value and the force feed-forward valued are added to
the force command.
11-10-1 Objects Requiring Settings
Index Name Description Reference
3110 hex Speed Feed-forward Gain The speed command from position control processing is
added to the product of the Control effort (60FA hex) that is
calculated from the internal position command times the ratio
in this object.
page 9-10
3111 hex Speed Feed-forward
Command Filter
Set the time constant for the first-order lag filter that is applied
to speed feed-forward input.
page 9-10
3112 hex Force Feed-forward Gain The force command from speed control processing is added to
the product of the Control effort (60FA hex) times the ratio in
this object.
page 9-10
3113 hex Force Feed-forward
Command Filter
Set the time constant for the first-order lag filter that is applied
to force feed-forward input.
page 9-11
60B1 hex Velocity offset Set the offset for the speed command.
It will be added to the Control effort (60FA hex).
page A-66
60B2 hex Torque offset Set the offset for the force command.
This object corresponds to the Force Feed-forward object in
Cyclic synchronous position mode (csp) or Cyclic synchronous
velocity mode (csv).
It will be added to the force command value.
page A-66

Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English