Example: Parameterising feedforward control with additive command values

A number of settings are required to use speed feedforward control and acceleration feedforward control. The list below contains an overview of settings. They are explained in the sections.

Velocity feedforward control

The parameter P-AXIS-00223 first selects the

• conventional speed feedforward control (see also the block diagram “Block diagram of conventional feedforward control”) or
• outputs the speed feedforward control value as an additive command value (see also block diagram: "Block diagram of feed forward control with additive setpoints")
• Configure the additive command value in cyclic process data.

In both cases speed scaling follows as 2.Schritt in the following parameters:

• P-AXIS-00205
• P-AXIS-00206
• P-AXIS-00207

Then the weighting factors must be set by the parameters:

• P-AXIS-00228
• P-AXIS-00229

Acceleration feedforward control:

First select the following using P-AXIS-00223:

• Acceleration feedforward control
• output of acceleration feedforward control value

Then calculate the required motor torque. Configure the path resolution of the axis in:

• P-AXIS-00092
• P-AXIS-00233
• P-AXIS-00234
• P-AXIS-00362 and
• P-AXIS-00363

Then enter the total motor load in P-AXIS-00391 in the unit kg*m²

Calculate the required motor torque/current command value. Enter the nominal torque of the motor as a reference value for torque scaling in P-AXIS-00392

• Torque scaling factor in the parameters P-AXIS-00325 and P-AXIS-00326.
• The value for P-AXIS-00392 is contained in the motor data sheet.

Finally, enter the acceleration feedforward control delay related to the set position in the parameter P-AXIS-00390.