YASKAWA SGD7S Product Manual page 419

8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
Torque Feedforward and Speed Feedforward
You can use the torque feedforward and speed feedforward functions to help shorten the posi-
tioning time. The reference is created from the differential of the position reference at the host
controller.
Torque feedforward:This is effective for speed control or position control. It is sent from the
Speed feedforward:This is effective only for position control. It is sent to the SERVOPACK from
 Examples of Connections to Host Controllers
 When SERVOPACK Performs Speed Control
Host controller
Posi t i o n
reference
K : Position loop gain
p
K : Feedforward gain
FF
 When SERVOPACK Performs Position Control
Position
reference
K : Feedforward gain
FF
8-86
host controller along with the speed reference. Connect the speed refer-
ence from the host controller to the V-REF (CN1-5 and CN1-6) signal and
the torque feedforward reference from the host controller to the T-REF
(CN1- 9 and CN1-10) signal.
the host controller along with the position reference. Connect the position
reference from the host controller to the PULS and SIGN (CN1-7,CN1 -8,
CN1-11, and CN1-12) signals and the speed feedforward reference from
the host controller to the V-REF (CN1-5 and CN1-6) signal.
SERVOPACK (speed control)
Pn400
T-REF
Differ- Differ-
K
Torque reference
FF
ential
ential
input gain
Pn300
V-REF
K Speed reference
P
input gain
Encoder
divided pulse
output
Rotary Servomotor: Pn212
Linear Servomotor: Pn281
SERVOPACK (position control)
Host controller
Pn400
T-REF
Differ-
Differ-
K Torque reference
FF
ential ential
i n put gai n
Pn300
V-REF
Differ- Speed reference
K
FF
ential
input gain
Refer-
Reference
PULS, SIGN
ence
pulse input
pulse
multiplier
form
Pn218 Pn20E
Pn200
Clear signal
= n. X
CLR
input
Encoder divided
pulse output
Divider
Rotary Servomotor: Pn212
Linear Servomotor: Pn281
Pn415 Pn426
Torque feedforward
T-REF filter time
average movement time
constant
Pn307 Pn30C
Speed reference Speed feedforward
filter time constant average movement time
Divider
Pn415 Pn426
T-REF filter time constant Torque feedforward
average movement time
Pn307 Pn30C
Speed reference Speed feedforward
filter time constant average movement time
Electronic
gear
Smoo- Deviation
B
thing counter
Pn000
A
= n.
Posi t i o n control
Pn216
secti o n
Pn210 Pn217
Pn522
Position
Positioning
feedback
completed width
COIN
Pn002
= n. X
Current
Speed
control
control
section
Pn000
section
= n. X
Speed
conversion
Current feedback
Speed feedback
Pn002
= n. X
Current
Speed
control
control
section
section
Pn000
X
= n. X
Current feedback
Speed
conversion
Speed feedback
Servomotor
M
Power
amplifier
ENC
Servomotor
M
Power
amplifier
ENC