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.
| Index/Subindex | Object Start Version |
|---|---|
|
53D6/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2982 |
DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 983 | 4 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
1964 |
No | 32 bit | No | M_01-03-00-000 |
Related Topics
