Technical Manual for EA350 Analog Pulse Type Servo Driver V101 6.11 Manual gain adjustment (applied) 6.11.1 Feedforward function Upon position control, it calculates the speed control command required for action based on the internal position command, and adds the speed command obtained by comparison with the position feedback to derive the speed feedforward; compared with feedback control, it can better reduce the position deviation and improve the responsiveness.
Calculation of the torque command based on the speed control command and addition of the torque command obtained by comparison with the speed feedback to derive the torque feedforward can improve the responsiveness of the speed control system. 74