# Example: Parameterising feedforward control with additive command values

A number of settings are required to use speed feedforward control and acceleration feedforward control. The list below contains an overview of settings. They are explained in the sections.

## Velocity feedforward control

The parameter P-AXIS-00223 first selects the

- conventional speed feedforward control (see also the block diagram “Block diagram of conventional feedforward control”) or
- outputs the speed feedforward control value as an additive command value (see also block diagram: "Block diagram of feed forward control with additive setpoints")
- Configure the additive command value in cyclic process data.

In both cases speed scaling follows as 2.Schritt in the following parameters:

- P-AXIS-00205
- P-AXIS-00206
- P-AXIS-00207

Then the weighting factors must be set by the parameters:

- P-AXIS-00228
- P-AXIS-00229

## Acceleration feedforward control:

First select the following using P-AXIS-00223:

- Acceleration feedforward control
- output of acceleration feedforward control value

Then calculate the required motor torque. Configure the path resolution of the axis in:

- P-AXIS-00092
- P-AXIS-00233
- P-AXIS-00234
- P-AXIS-00362 and
- P-AXIS-00363

Then enter the total motor load in P-AXIS-00391 in the unit kg*m2

Calculate the required motor torque/current command value. Enter the nominal torque of the motor as a reference value for torque scaling in P-AXIS-00392

- Torque scaling factor in the parameters P-AXIS-00325 and P-AXIS-00326.
- The value for P-AXIS-00392 is contained in the motor data sheet.

Finally, enter the acceleration feedforward control delay related to the set position in the parameter P-AXIS-00390.

## Additional information

- Velocity feedforward control
- Acceleration feedforward control