How to Adjust Acceleration Feedforward When Using Pulse Control with an A6 Drive?

When using pulse signals to control the A6-RS series drive, if you observe that the motor lags during acceleration and deceleration, the issue can be resolved through the following two methods:

1. Controller Parameter Adjustment:

The motor's acceleration and deceleration times are primarily determined by the controller. Locate the parameters related to acceleration/deceleration time in your pulse controller and reduce their values. This will increase the motor's acceleration and deceleration rates, helping to eliminate the lag.

2. Drive Acceleration Feedforward Adjustment:

In the A6 series drives, this parameter is referred to as Torque Feedforward (C01.17).

In Position Control mode (pulse control), utilizing torque feedforward can enhance the torque command response, reduce position deviation during fixed acceleration/deceleration, and minimize lag. Please note the following when modifying this parameter:

1. 1. First, set C01.06 = 1 (This sets the torque feedforward signal source to the internal command).
   2. When setting the value of C01.17 for the first time, do not set it too high. Adjust it gradually based on the actual performance. An excessively high value may cause motor overshoot.

Updated on: 28/11/2025