Omron R88M-K User Manual

11 Adjustment Functions
11-32
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1 Set the Speed Feed-forward Command Filter (3111 hex).
Set it to approx. 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.
If the speed feed-forward gain is set to 100%, the position error is calculated at 0. However,
large overshooting will occur during acceleration/deceleration.
The position error during an operation at a certain speed will decrease based on the following
formula according to the speed feed-forward gain value.
The position error in the range of constant speed becomes smaller as the speed feed-forward
gain increases.
Precautions for Correct UsePrecautions for Correct Use
• 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.
11-11-2 Operating Procedure
Speed Feed-forward Operating Method
Position error [command units] = Command speed [command units/s]/Position loop gain [1/s]
× (100 - Speed feed-forward gain [%])/100
Command
speed
Motor speed
Position error
Speed Feed-forward gain
50 [%]
80 [%]
0 [%]
Time

Omron R88M-K Specifications

General

Brand	Omron
Model	R88M-K
Category	Controller
Language	English