Torque feedforward control

For an optimal motion control of the lower-level drive, the motion axis is provided with an automatic function for the torque feedforward control.

The torque feedforward control is calculated from the current setpoint acceleration and the resulting moment of inertia which consists of the following two components:

  1. Moment of inertia of the motor
    • During the initialisation phase, the moment of inertia of the motor is read out of the parameter set of the lower-level drive (display in subindex 38 ).
  2. Moment of inertia of the load
    • The moment of inertia of the load (data of gearbox output end) can be parameterised in the motion axis in subindex 37 and is not adjusted with the object of the lower-level drive.

The FB L_MC1P_SetTorqueOffset serves to deactivate the automatic detection of the torque feedforward control or to define an additional torque.

The torque effectively transmitted to the drive is provided at the lrSetTorqueToDrive output of the Axis_Ref.