Servo Adjustment
6.2.3 Using Proportional Control
6 -8
6.2.2 Using Feed-forward Control
The time required for positioning can be shortened with feed-forward control by setting the fol-
lowing user constant.
Pn109
Feed-forward
Unit:
%
Setting
Range:
0 to 100
Factory
Setting:
0
Speed Control
Position Control
Thisuserconstantissetto applyfeed-forward frequencycompensation toposition controlinside
the Servopack. Use this user constant to shorten positioning time. Too high a value may cause
the machine to vibrate. For ordinary machines, set 80% or less in this constant.
Reference pulse
Feedback pulse
Pn109
Difference
6.2.3 Using Proportional Control
If user constant Pn000.1 is set to 0 or 1 as shown below, input signal /P-CON serves as a PI/P
control changeover switch.
D
PI control: Proportional/integral control.
D
P control: Proportional control.
Pn000.1
Control Method Selection
Factory
Setting:
0
Speed Control
Position Control
Pn000.1
setting
Control Mode
0
Speed
Control
Usual speed control or position
control is selected.
Input signal /P-CON (CN1-41)
is used to select PI control or P
control.
Servopack
1
Position
Control
CN1-41 is
open.
PI control
/P-CON
P or PI
control
selection
CN1-41
CN1-41 is
0 V
P control
selection
z
Feed-forward control
Feed-forward control is a type of control in which necessary control connections are made in advance before the
control system is affected by external disturbance. Feed-forward control increases the effective servo gain, thus mak-
ing it possible to improve the response performance of the system.
TERMS
6
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