6.7 Compatible Adjustment Function
6-47
6
Adjustments
6.7.3
Speed Feedforward
The speed forward function shortens positioning time.
This function is enabled only when the multi-winding drive unit performs position control.
The host controller finds the difference from the position reference to generate a speed feedforward reference,
and inputs the speed feedforward reference together with the position reference to the multi-winding drive
unit.
(1) Example of Connection with Host Controller
Connect a position reference to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feedforward reference
to V-REF (CN1-5 and -6) from the host controller.
(2) Related Parameters
Speed feedforward value is set using the parameters Pn207 and Pn300.
The factory setting is Pn300 = 6.00 V/rated speed.
For example, the speed feedforward value is ±6 V, then the speed is limited to the rated speed.
Note: Too high a speed feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
COIN
M
Pn200.0
Pn218
Pn20E
Pn210
T-REF
V-REF
CLR
PULS, SIGN
Pn300
Pn212
Pn216
Pn217
Pn207.1
ENC
K
FF
Pn000.1 Pn000.1
Servomotor
Host controller
Speed reference input gain
Multi-winding drive system
Divider
Clear input
Position
reference
Differe-
ntial
Refer-
ence
pulse
form
Smooth-
ing
Position
feedback
Error
counter
Pn522
Positioning
completed width
Speed
conver-
sion
Speed
control
section
Current
control
section
Power
amplifier
Current feedback
Speed feedback
Position control
section
Encoder
output pulse
Elec-
tronic
gear
B
A
KFF : Feedforward gain
Reference
Pulse
Multiplier
×
n
Analog
Parameter
Meaning
When Enabled Classification
Pn207
n.
0
[Factory setting]
Disabled
After restart
Setup
n.
1
Uses V-REF terminal for speed feedforward input.
Pn300
Speed Reference Input Gain
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
150 to 3000
0.01 V/rated speed
600
Immediately
Setup
Speed
Position
Torque
