8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8-88
Related Parameters
Torque Feedforward
Torque feedforward is allocated to T-REF (Pn002 = n.
X) and it is set using the torque ref-
erence input gain (Pn400) and T-REF filter time constant (Pn415).
The default setting of Pn400 is 30. Therefore, if the torque feedforward value is
±
3 V, then the
torque is limited to
±
100% of the rated torque.
Note: 1. Overshooting will occur if you set the torque feedforward too high. Set the optimum value while monitoring
the response.
2. You cannot use the torque feedforward function together with torque limiting with an analog voltage refer-
ence.
Speed Feedforward
You set the speed feedforward function with the position control option (Pn207 = n.
X
)
and the speed reference input gain (Pn300).
The default setting of Pn300 is 600. Therefore, if the speed feedforward value is
±
6 V, then it
will indicate the rated speed.
Note: Overshooting will occur if you set the feedforward too high. Set the optimum value while monitoring the
response.
Parameter
Meaning
When Enabled
Classification
Pn002
n.
0
(default setting)
Do not use T-REF.
After restart
Setup
n.
1
Use T-REF as an external torque limit input.
n.
2
Use T-REF as a torque feedback input.
n.
3
Use T-REF as an external torque limit input
when /P-CL or /N-CL is active.
Pn400
Torque Reference Input Gain
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
10 to 100
0.1 V/rated torque
30
Immediately
Setup
Pn415
T-REF Filter Time Constant
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 65,535
0.01 ms
0
Immediately
Setup
Pn426
Torque feedforward average movement time
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 5,100
0.1 ms
0
Immediately
Setup
Parameter
Meaning
When Enabled
Classification
Pn207
n.
0
(default setting)
Do not use V-REF.
After restart
Setup
n.
1
Use V-REF as a speed feedback input.
Pn300
Speed Reference Input Gain
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
150 to 3,000
0.01 V/Rated
motor speed
600
Immediately
Setup
Pn307
Speed Reference Filter Time Constant
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 65,535
0.01 ms
40
Immediately
Setup
Pn30C
Speed Feedforward Average Movement Time
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
0 to 5,100
0.1 ms
0
Immediately
Setup
Speed
Position
Torque
Speed
Position
Torque
Speed
Position
Torque