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 following errors during acceleration and deceleration.
Attributes
Name | Value |
|---|---|
Datatype | udec |
Data length in bit | 16 |
Decimal point | 4 |
Min value | 0.0000 |
Default | 0.0000 |
Max value | 3.2767 |
Unit | % / (rad/s²) |
Changeable in EtherCAT state | PreOp, SafeOp, Op |
Cyclic transfer | No |
Device parameter | No |
Related to interface revision | from Rev. 203 |
The acceleration pre-control generates a set current that is added to the control value of the velocity controller (pre-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. The 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.
When a feature bit is set (e.g. P-0-0010; Feature Bit 16), the calculation is internal.
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: | |
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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. |
| For further information please look into the involved IDN: |