The invention relates to a
processing method for speed feedforward and torque feedforward in a
CANopen servo system, which comprises the steps that a trajectory planner receives a
target control command and calculates the type of position instruction curves, the position of an acceleration turning point and the position of a deceleration turning point; the trajectory planner judges whether
servo control is started or not; if not, a speed feedforward curve, a torque feedforward curve and the position instruction curves are all zero; if so, a position accumulated value planned up to the previous
servo control period is compared with the acceleration turning point position, the deceleration turning point position and a target position, acceleration planning, deceleration planning,
constant speed planning or non-
execution planning is executed according to a comparison result so as to acquire a speed feedforward value and a torque feedforward value of the current
servo control period; a position increment value of the current
servo control period and a position accumulated value planned up to the current
servo control period are calculated; a plurality of position increment values form a position increment instruction curve, a plurality of position accumulated values form a position accumulated value instruction curve, a plurality of speed feedforward values form a speed feedforward curve, and a plurality of torque feedforward values form a torque feedforward curve.