Yaskawa Electric InsB Industrial AC Servo Motor 400W 200V SGMAH-04A1A41D-OY

Yaskawa Electric InsB Industrial AC Servo Motor 400W 200V SGMAH-04A1A41D-OY

Item specifics

OTHER SUPERIOR PRODUCTS

SIMILAR PRODUCTS

What is Feedforward And Will It Benefit Me?
Most controllers allow use of feedforward. Since the error due to velocity commands is so predictable
once the gain is precisely known (and often in digital form in the controller anyway), it is a relatively
simple matter to alter the command by the amount of error so that the machine position coincides with the
command as is illustrated in figure 3.
If one wants C to equal F, then FF must equal E. Since the commanded velocity and the gain are known
in the controller, the error can be computed and added to the command to generate a pseudo command to
the servo to cause C and F to be coincident.

Through the proper use of feedforward, it is no longer necessary to precisely match gains, although each
gain would still need to be known exactly. Also, for circles, the feedforward would command a pseudocircle
of larger size so that the resultant circle is equal to the one desired.

Contours can be done with feedforward as long as the path can be described with straight lines and circles
with the transition points between them tangential. At discontinuous "corners," one must think through
what may happen. The two diagrams in figure 4 illustrate what happens at a 90° corner which is executed
at velocity.