Sigma II User’s Manual
Chapter 6: Servo Adjustment
6-9
6.2.2
Using Feed-Forward Control
The time required for positioning can be shortened with feed-forward control by set-
ting the following parameter.
Definition:Feed-forward control makes necessary corrections beforehand to prevent the control system
from receiving the effects of external disturbance. By increasing the effective servo gain, feed-for-
ward control improves the system’s response.
Parameter Pn109 is set to apply feed-forward frequency compensation to position
control inside the servo amplifier. Use it to shorten positioning time. Too high a
value may cause machine vibration. For most applications, set Pn109 to 80% or
less.
6.2.3
Using Proportional Control
If parameter Pn000.1 is set to 0 or 1 as shown below, input signal /P-CON serves as
a PI/P control changeover switch.
•
PI control: Proportional/integral control.
•
P control: Proportional control.
Parameter
Signal
Setting
(%)
Application
Pn109
Feed-forward
Setting Range: 0 to 100
Default Setting: 0
Speed Control,
Position Control
Parameter
Signal
Setting
(%)
Application
Pn000.1
Control Method Selection
Default Setting: 0
Speed Control,
Position Control
Reference pulse
Pn109
Difference
Feedback pulse
