Feedforward control mode (P-AXIS-00223)

P-AXIS-00223

Feedforward control mode

Description

This parameter specifies bit-coded which reference variables (velocity, acceleration and jerk) are to be active during feedforward control.

Parameter

vorsteuer.vorsteuerung (feedforward)

Data type

STRING

Data range

Flag

Meaning

Value

NONE

No feedforward control

0x0000

VEL

Velocity feedforward control

0x0001

ACC

Acceleration feedforward control

0x0002

JERK

Jerk feedforward control

0x0004

ADD_VEL

Velocity feedforward control by output of an additive velocity command value ()

PROFIdrive: In PROFIdrive telegram 5, the calculated feedforward control value is calculated as the velocity in the velocity command value (NSOLL_B - Signal No.7); as opposed to VEL, the feedforward value is calculated here as a position lag in the control deviation ((XERR - Signal No.25).

0x0101

ADD_ACC

Acceleration feedforward control by output of an additive torque/current command value

0x0202

ADD_JERK

Jerk feedforward control by output of an additive torque/current command value

0x0804

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

NONE

Drive types

----

Remarks

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

Jerk feedforward is only available when a jerk-limited velocity profile is used.

For details on defining the acceleration profile, see P-CHAN-00071 and [PROG//Command #SLOPE [TYPE…] ].

The specification of values by codes is possible as of CNC Builds

• V2.11.2034.6
• V2.11.2808.03
• V3.1.3065.04 and
• V3.1.3102.00

.

Examples:

Velocity and acceleration feedforward control:

vorsteuer.vorsteuerung           VEL | ACC

Velocity and acceleration feedforward control by additive command values:

vorsteuer.vorsteuerung (feedforward)            ADD_VEL | ADD_ACC

In previous CNC Builds values had to be specified bit-coded for the UNS16 variable. Default value: 0