5.2 Settings According to Host Controller
5 -43
The torque feed-forward function cannot be used with torque limiting by analog voltage refer-
ence described in
5.2.10 Using Torque Limiting by Analog Voltage Reference
.
J
J
Setting
Torque feed-forward is set using user constant Pn400.
The factory setting at Pn400 is 30. If, for example, the torque feed-forward value is
±
3 V, then
torque is limited to
±
100% of the rated torque.
Pn400
Torque
Reference Input
Gain
Unit:
0.1V/Rated
Torque
Setting
Range:
10 to 100
Factory
Setting:
30
Speed/Torque
Control,
Position Control
5.2.9 Speed Feed-forward Function
The speed feed-forward function uses analog voltages and is effective only for position control.
The feed-forward function can be used to shorten positioning time. The host controller creates
afeed-forwardreferencebasedon thedifferential ofthe positionreference. Thisreference ispro-
vided to the Servopack with the position reference.
Overshooting and undershooting can result if too much feed-forward is used. Set the optimum
settings based on the actual response.
The position reference from the host controller is connected to PULS and SIGN (CN1-7, 8, 11,
and 12) and the speed feed-forward reference is connected to V-REF (CN1-5 and 6).
Pn100
M
PG
K
FF
+
--
+
+
V-REF
+
Kp Pn102
+
--
Position
reference
Current loop
Speed
calculation
Integration
(Pn101)
Servomotor
Encoder
Host controller
SGDH Servopack
Kp: Position loop gain
K
FF
: Feed-forward gain
Differ-
ential
Pn300
J
J
Using the Speed Feed-forward Function
Set the following user constant to 1 to use the analog voltage speed feed-forward function.
Pn207.1
Speed Control Option
Factory
Setting: 0
Position Control
This setting will enable the speed feed-forward function.
Pn207.1 Setting
Description
0
No feed-forward function
1
V-REF terminal used a speed feed-forward input.
5
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