Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: Set the speed feedforward gain. The product of the speed command obtained through calculation of the position command, multiplied by the ratio of this parameter, is added to the speed command output by the position loop. When the position control command changes smoothly, increasing this gain value can reduce the position following deviation and improve the position followability. When the position control command changes not in a smooth manner, mechanical vibration may occur; reducing this gain value can mitigate vibration.
155 P4-06 Speed feedforward gain APR Kp _ Initial value 30.0 Communication address 0406H Unit % Time of taking effect With immediate effect Setting range 0.0~300.0 Data size 16bit Control mode P