Yaskawa LEGEND-MC - Manual (Page 122)

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LEGEND-MC User’s Manual
FA (Acceleration Feedforward)
[Setting]
DESCRIPTION:
The FA command sets the acceleration feedforward coefficient, or returns the previously set value. This
coefficient, when scaled by the acceleration, adds a torque bias voltage during the acceleration phase and
subtracts the bias during the deceleration phase of a motion.
Acceleration Feedforward Bias = FA ⋅ AC ⋅ 1.5 ⋅ 10 -7
Deceleration Feedforward Bias = FA
⋅ DC ⋅ 1.5 ⋅ 10 -7
The Feedforward Bias product is limited to 10 Volts. FA will only be operational during independent
moves, not gearing, camming or interpolation.
ARGUMENTS: FA x, y, z, w or FAX=x or FA a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned numbers
FA has a resolution of .25
USAGE:
OPERAND USAGE:
_FAn contains the value of the feedforward acceleration coefficient where n is an axis letter.
RELATED COMMANDS:
EXAMPLES:
NOTE: If the feedforward coefficient is changed during a move, then the change will not take effect
until the next move.
While Moving Yes Minimum Value 0
In a Program Yes Maximum Value 8191
Command Line Yes Default Value 0
Can be Interrogated Yes Default Format 4.0
Used as an Operand Yes Distributed Control Specific Axis
"FV" Velocity feedforward
AC 500000 Set acceleration
FA 10 Set feedforward coefficient to 10
FA ?
The effective bias will be 0.75V (10 * 500000 * 1.5 * 10
-7
)
010 Return value