S-0-0348 Acceleration feed forward gain
The parameter contains the acceleration pre-control. This parameter is active in mode “Position control lag less”. It is used in selected applications to additionally reduce tracking errors during acceleration and deceleration.
Attributes
|
Name |
Value |
|---|---|
|
Data type |
udec |
|
Data length |
16 |
|
Decimal point |
4 |
|
Min value |
0.0000 |
|
Max value |
3.2767 |
|
Default |
- |
|
Unit |
% / (rad/s²) |
|
Changeable in EtherCAT state |
PreOp, SafeOp, Op |
|
Cyclic transfer |
No |
|
Device parameter |
No |
|
Related to interface revision |
from 0203 |
The acceleration feedforward control generates a set current that is added to the control value of the speed controller (feedforward control). This parameter can be used to adapt the effect of acceleration pre-control to the application, by linearly scaling the acceleration calculated by dual differentiation of the set position. Acceleration pre-control can only be used in connection with cubic interpolation (P-0-0556), because a set acceleration can only be calculated from a third-order interpolation.
Explanation:
m = torque
α = angular acceleration of the motor shaft
J_tot = total moment of inertia active at the motor
K_T = torque constant of the motor
i_q = torque-generating motor current
Calculation example:
Parameter calculation:
Jtot = kg m²
KT = Nm / Arms
P-0-0092 = Arms
100% = Full compensation
Example:
 | Nested structure Note the nesting depth and the structure information at the start of the descriptions. |
| IDNs involved S-0-0556, P-0-0505, P-0-0092, P-0-0556 |