Feedforward control mode (P-AXIS-00223)

With this parameter it is specified bitcoded which reference variables (velocity, acceleration and jerk) are to be active during feedforward control. The following settings are present:

Variable name

Type

Permissible range

Axis type

Dimension

vorsteuerung

UNS16

0 - 0x327

T, R

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Value

Significance

0x0000

No feedforward control

0x0001

Velocity feedforward control

0x0002

Acceleration feedforward control

0x0004

Jerk feedforward control

0x0100

PROFIdrive: At the Profidrive-telegramm 5 the calculated feedforward control value is considered as speed in the commanded speed value (NSOLL_B – Signal-Nr.7). If this flag is not selected, the feedforward control value is considered as position lag in the system deviation (XERR – Signal-Nr.25).

0x0200

If acceleration feedforward is active the feedforward acceleration is output via an additional torque/current command value.

Feedforward control mode (P-AXIS-00223) 1:

This function is available for all types of axes and types of drives.

Feedforward control mode (P-AXIS-00223) 2:

Jerk feedforward is only available when a jerk limited velocity profile is used. Further information on the definition of the acceleration profile to use can be found in P-CHAN-00071and [PROG - command #SET SLOPE PROFIL].