Servo position control with speed and torque feedforward

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19 Sep 2020 16:48 - 19 Sep 2020 16:49 #182760 by johnbl
Hi,

Yaskawa servopacks have inputs for speed and torque feedforward (analog 0-10V) when controlled in position mode, which look useful for fine-tuning the servos with aggressive moves.

Are the joint-vel-cmd and joint-acc-cmd the appropriate HAL pins to feed these inputs? Do they need to be scaled by a fixed value or go through an extra PID loop?
Last edit: 19 Sep 2020 16:49 by johnbl.

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02 Oct 2020 11:20 #184557 by andypugh
They are feedforward to a PID loop inside the drive, so another PID is unnecessary.
Both will need a fixed scaling, assuming that the inputs are analogue voltage too, rather than engineering units. Though whether this scaling is done in the drive or in LinuxCNC might be a choice you need to make.
I think that I would scale in LinuxCNC for easier online tuning.
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