Delay time for acceleration feedforward (P-AXIS-00390)

If acceleration feedforward via an additive torque command value is activated, with this parameter the output of the acceleration feedforward value can be delayed with respect to the command position.

The dimension of the delay time is in us, the maximum delay is one interpolator cycle.

Variable name

Type

Permissible range

Axis type

Dimension

acceleration_delay_time

UNS16

0 < acceleration_delay_time < Interpolator cycle time

T, R

µs

Delay time for acceleration feedforward (P-AXIS-00390) 1:

At the moment this parameter is supported only for SERCOS.