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ASDA-A3

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Tuning

Position feed forward gain smoothing constant (P2.003)

The ideal speed is calculated by the position command with a differentiator, so the discontinued

noise of the position command is also magnified. The lower the position command resolution,

the more severe the noise. In this case, you can set a higher constant value to reduce the

interference from the noise. Please note that the overshoot is greater during the position settling

process if you set a higher value for the filter.

5

Speed feed forward gain (P2.007)

In Speed mode, this parameter calculates the ideal current using the speed command and

applies this result to the electric current command. Using this function can reduce the speed

error that occurs during uniform acceleration and deceleration. In Position mode, using this

function is not recommended because it causes a rather poor settling performance.

5.8.1.3 Application example

In the application of contour control, to reduce the geometric error caused by the servo following

error (i.e, the actual feedback radius is shorter than the command radius when circular path is

executed), you can increase the setting of P2.002. In the point-to-point positioning application,

you can also set a higher value for P2.002 to reduce the transient position error during

acceleration. However, using the position feed forward gain function is more likely to cause

position overshoot and a longer settling time.

Note: do not use P2.002 (Position feed forward gain) for applications that do not allow

overshoot, use P1.061 (Viscous friction compensation) instead.

Relevant parameter

Refer to Chapter 8 for detailed descriptions.

Parameter

Function

P1.061

Viscous friction compensation

P1.062

Percentage of friction compensation

P1.063

Constant of friction compensation

P2.002

Position feed forward gain

P2.003

Position feed forward gain smoothing constant

P2.007

Speed feed forward gain

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