VL.FFDELAY

Description

VL.FFDELAY sets the delay applied to the velocity feedforward term that is passed into the velocity loop integrator. The delay is applied to the velocity feedforward, and then subtracted from the current velocity feedforward term. This difference is the value fed into the velocity loop integrator. If tuned correctly, this delay will help reduce position following error and velocity following error.

This filter is considered a feedforward. For best results it should be set in conjunction with PL.PDELAY.

After making an approximation of the Open Loop bandwidth (Hz) in the Performance Servo Tuner, calculate VL.FFDELAY:

VL.FFDELAY = 1 / (Open Loop BW (Hz) * 2π) * 1,000,000


  • 1,000,000 = seconds to microseconds

General Information

Type

R/W Parameter

Units

Microseconds

Range

0, 100 to 625,000

Default Value

0

Data Type

Integer

Start Version

M_01-13-01-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC No
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see Supported Parameters (➜ p. 1).

Fieldbus

Index/Subindex

Object Start Version

EtherCAT COE and CANopen

53D6/0

M_01-00-00-000

Fieldbus

Address

Attributes Signed?

Profinet

2982

DWord No
sercos® III 4 Octets
Fieldbus Instance Data Size Data Type
EtherNet/IP 983 4 Byte Integer

Related Topics

PL.PDELAY

Velocity Loop