The torque-based feedforward terms on the drive model the physics of a motor and allow the drive to command the appropriate current, even before the encoder has time to send data back to the drive. Torque-based feedforward terms lower following error with virtually no stability penalty.
- Acceleration Feed Forward
- Compensates for mass of the load, higher load = higher acceleration feed forward.
- Velocity Feed Forward
- Compensates for viscous friction.
- Friction Feed Forward
- Compensates for static friction.
Feed-forward gives a motion controller “knowledge” about the system that is being controlled. This allows current to be commanded directly to the motor without any delays and provides more accurate motion without an increase in servo bandwidth.
| Parameter | Description | Drive Keyword |
|---|---|---|
|
IL.FRICTION |
Current Loop Friction Feed Forward |
|
|
IL.KACCFF |
Current Loop Acceleration Feed Forward |
|
|
VL.KVFF |
Velocity Loop Feed Forward |
