Feedforward control mode (P-AXIS-00223)

P-AXIS-00223

Feedforward control mode

Description

With this parameter it is specified bit-coded which reference variables (velocity, acceleration and jerk) are to be active during feedforward control.

Parameter

vorsteuer.vorsteuerung

Data type

STRING

Data range

Flag

Meaning

Value

NONE

No feedforward control

0x0000

VEL

Velocity feedforward control

0x0001

ACC

Acceleration feedforward control

0x0002

JERK

Jerk feedforward control

0x0004

ADD_VEL

Speed feedforward control by output of an additive speed command value ()

PROFIdrive: In PROFIdrive telegram 5, the calculated feedforward control value is calculated as the speed in the speed command value (NSOLL_B - Signal No.7); as opposed to VEL, the feedforward value is calculated here as a position lag in the control deviation ((XERR - Signal No.25).

0x0101

ADD_ACC

Acceleration feedforward control by output of an additive torque/current command value

0x0202

ADD_JERK

Jerk feedforward control by output of an additive torque/current command value

0x0804

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

NONE or 0x0000

Drive types

----

Remarks

This function is available for all types of axes and types of drives.

Jerk feedforward is only available when a jerk limited velocity profile is used.

Further informations on the definition of the acceleration profile to use can be found in P-CHAN-00071 and [PROG//command #SLOPE [TYPE…] ].

 

The specification of value by codes is as of CNC Builds

  • V2.11.2034.6
  • V2.11.2808.03
  • V3.1.3065.04 and
  • V3.1.3102.00

possible.

 

Example:

Speed and acceleration feedforward control:

vorsteuer.vorst  VEL | ACC

 

Speed and acceleration feedforward control by additive command values:

vorsteuer.vorsteuerung            ADD_VEL | ADD_ACC