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11 Adjustment Functions
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
11-10 Feed-forward Function
11
11-10-2 Operating Procedure
1
Set the Speed Feed-forward Command Filter (3111 hex).
Set the Speed Feed-forward Command Filter (3111 hex) to approximately 50 (0.5 ms).
2
Adjust the Speed Feed-forward Gain (3110 hex).
Gradually increase the value of the Speed Feed-forward Gain (3110 hex) and finely adjust it to
avoid overshooting during acceleration/deceleration.
The Following error actual value during an operation at a certain speed will decrease based on the
following formula according to the speed feed-forward gain value.
The Following Error Actual Value in the range of constant speed becomes smaller as the speed
feed-forward gain increases.
Precautions for Correct UsePrecautions for Correct Use
• If the speed feed-forward gain is set to 100%, the Following Error Actual Value is calculated to
0. However, large overshooting will occur during acceleration/deceleration.
• If the updating cycle of the position command input is longer than the Servo Drive control
cycle, or if the input command frequency is not uniform, the operating noise may increase
while the speed feed-forward is enabled. Apply the position command filter (first-order lag or
FIR smoothing) or increase the speed feed-forward filter setting.
11-10-2 Operating Procedure
Speed Feed-forward Operating Method
×
100
=
Position error
[command unit]
Command speed [command unit/s]
Position loop gain [1/s]
(100 - Speed feed-forward gain [%])
50 [%]
80 [%]
0 [%]
Time
Command
speed
Motor speed
Position error
Speed feed-forward gain
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