Shenzhen Just Motion Control electromechanics co., ltd
0755-26509689
code
P02-30.0
Gain switching setting
P02-30.1
P02-31
Gain switching mode
Gain switching time 1
P02-32
Gain switching time 2
P02-33
Gain Switching Latency 1
P02-34
Gain Switching Latency 2
range
0-1
0-9
0-60000
0-60000
0-60000
0-60000
setting
0
0
100
800
1000
100
Measure
---
---
ms
ms
ms
ms
time
Effective
immediately
Effective
immediately
Effective
immediately
Effective
immediately
Effective
immediately
Effective
immediately
7.3.3 feedforward function
Speed feedforward: During position control, the required speed control command is calculated from the position
command and added to the output of the position regulator to reduce the position deviation and improve the
response of the position control.
Torque Feedforward: The required torque command is calculated from the speed control command and added to the
speed regulator output to improve the speed control response.
A. Speed Feedforward Usage Operation
With the speed feedforward smoothing constant set to 50 (0.5 ms), gradually increase the speed feedforward gain to
meet the system requirements. However, too large velocity feedforward gain will cause position overshoot, which
will prolong the setting time.
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