YASKAWA Sigma-II Series, User Manual

Page: 472 / 578

9 Adjustments
9.4.3 Speed Feed-forward
9-14
9.4.3 Speed Feed-forward
Parameter Meaning
Pn207
n.
††
0
†
Disabled
n.
††
1
†
Uses V-REF terminal for speed feed-forward input.
Pn300
Speed Reference Input Gain
Setting Range Setting Unit Factory Setting Setting Validation
150 to 3,000
(1.50 to 30.00 V/rated
speed)
0.01 V/rated speed
600
(6 V/rated speed)
Immediately
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position refer-
ence to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Speed feed-forward value is set using the parameter Pn300.
The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is
±
6V, then the speed is limited to the
rated speed.
Speed Position
Torque
Pn100 M
PG
K
FF
+
-
+
+
V-REF (CN1-5 and -6)
+
Kp ( Pn102 )
+
-
Position
reference
Current loop
Speed
calculation
Integration
(Pn101)
Servomotor
Encoder
Host controller
SERVOPACK
Kp: Position loop gain
K
FF
: Feed-forward gain
Differ-
ential
Pn300
PULS
SIGN