Sigma II User’s Manual
Chapter 5: Parameter Settings and Functions
5-45
reference signal to T-REF (CN1-9 and 10).
n
Using the Torque Feed-Forward Function
To use the torque feed-forward function, set the following parameter to 2.
This setting enables the torque feed-forward function.
The torque feed-forward function cannot be used with the torque limiting by analog
voltage reference function described in 5.2.9 Using Torque Limiting by Analog Volt-
age Reference.
n
Setting
Torque feed-forward is set using parameter Pn400.
The default setting at Pn400 is 30. If, for example, the torque feed-forward value is
±3V, then torque is limited to ±100% of the rated torque.
Parameter
Signal
Setting
(rpm)
Control Mode
Pn002.0
Speed Control Option
(T-REF Terminal Allocation)
Default Setting: 0
Speed/Torque Control
Pn002.0 Setting
T-REF Function
0
None.
1
T-REF terminal used for external torque limit input.
2
T-REF terminal used for torque feed-forward input.
Parameter
Signal
Setting
(rpm)
Control Mode
Pn400
Torque Reference Input Adjust-
ment Factor
Setting Range: 0 to 100
Default Setting: 30
Speed/Torque Control
-
-
Position
reference
Kp
Pn300
Pn100
Current loop
Divider
M
PG
Differ
ential
KFF
Pn400
Speed
calculation
Integration
(Pn101)
+
+
+
+
T-REF
V-REF
Servomotor
Encoder
Host controller
SGDH Servo Amplifier
+
+
