ASCII - Command GPFFV    
Syntax Transmit GPFFV [Data]    
Syntax Receive GPFFV <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Float   CANBus Object Number 3545 (hex)
DIM -   PROFIBUS PNU 1669 (dec) IND = 1 (dec)
Range 0.0 .. 50.0   DPR 69 (dec)
Default 1.0    
Opmode 4, 5, 8   Data Type Bus/DPR Integer32
Drive State -   Weighting 1000
Start Firmware 1.20    
Configuration No   Last Change of this Object 1.8
Function Group Position Controller   EEPROM Yes
Short Description Position Control Loop: Feed Forward for Velocity

Description

This variable is used both in the P position control loop (EXTPOS=1, 3, 4), and in the PI position control loop (EXTPOS=0, 2). Feed forward is used to ease the position controller task. A better setting for GPFFV means better utilization of the dynamic range of the position controller. The most favorable setting (usually about 1.0), depends on factors external to the drive such as friction, dynamic resistance, and stiffness. If GPFFV is set too low, the drive lags. If GPFFV is set too high, the drive oversteers.