4-47
Note 1.
Set Pn107 to 0 if not using bias function.
Note 2.
If the bias rotation speed is too great, the Servomotor operation may become unstable. The
optimum value will vary depending on the load, gain, and bias addition range, so check and
adjust the Servomotor response. (Gradually increase the value, starting from Pn107 = 0.)
Bias function operation
Speed command
(command pulse fre-
quency)
Pn107 added to speed
command when residual
pulses exceed Pn108
Time
Servomotor
speed
(speed monitor)
Bias function not used.
Bias function used.
Pn109
Feed-forward amount (Position)
Setting
range
0 to 100
Unit
%
Default
setting
0
Restart
power?
No
•
Sets the feed-forward compensation value during positioning.
•
When performing feed-forward compensation, the effective servo gain rises, improving responsive-
ness. There is almost no effect, however, on systems where the position loop gain is sufficiently high.
•
Use to shorten positioning time.
Note
Setting a high value may result in machine vibration. Set the feed-forward amount for general
machinery to 80% maximum. (Check and adjust machine response.)
Pn10A
Feed-forward command filter (Position)
Setting
range
0 to 6400
Unit
x 0.01 ms
Default
setting
0
Restart
power?
No
•
Sets the feed-forward primary (lag) command filter during position control.
•
If the positioning completed signal is interrupted (i.e., repeatedly turns ON and OFF) because of per-
forming feed-forward compensation, and a speed overshoot is generated, alleviate the problem by
setting the primary lag filter.
D
Speed Control Setting (Pn10b: Default Setting 0004)
Pn10b.0
Speed control setting --- P control switching conditions (Position, speed, internally-set speed
control)
Setting
range
0 to 4
Unit
---
Default
setting
4
Restart
power?
Yes
Setting Explanation
Setting
Explanation
0
Internal torque command (Pn10C) condition (Position, speed, internally-set speed control)
1
Speed command (Pn10d) condition (Position, speed, internally-set speed control)
2
Acceleration command (Pn10E) condition (Position, speed, internally-set speed control)
3
Deviation pulse (Pn10F) condition (Position)
4
P control switching function not used. (Position, speed, internally-set speed control)
Operation
Chapter 4
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