Fa (acceleration feedforward), Setting – Yaskawa SMC–4000 User Manual
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SMC–4000 User 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
where
x, y z, w, or a, b, c, d are unsigned numbers
FA has a resolution of 0.25
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
Virtual Axis
No
AC 500000
Set acceleration
FA 10
Set feedforward coefficient to 10
MG_FAX
The effective bias will be 0.75V (10
∗ 500000 ∗ 1.5 ∗ 10
-7
)
010
Return value