Compatible Adjustment Function; Feedforward Reference; Force Feedforward - YASKAWA SGDV SERVOPACK User Manual

6.9

Compatible Adjustment Function

The -V series SERVOPACKs have adjustment functions as explained in sections 6.1 to 6.8 to make machine
adjustments. 
This section explains compatible functions provided by earlier models, such as the -III Series SERVOPACK.

6.9.1 Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.
Position
reference pulse
Feedforward Gain
Pn109
Setting Range
Feedforward Filter Time Constant
Pn10A
Setting Range
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.

6.9.2 Force Feedforward

The force feedforward function shortens positioning time.
The host controller finds the difference from the position reference to generate a force feedforward reference,
and inputs the force feedforward reference together with the speed reference to the SERVOPACK.
(1) Example of Connection with Host Controller
Connect a speed reference to V-REF (CN1-5 and -6) and a force feedforward reference to T-REF (CN1-9 and
-10) from the host controller.
 SERVOPACK in Speed Control
SERVOPACK (in speed control)
Host controller
T-REF
Differe-
K
ntial FF
V-REF
Position
K
P
reference
Refer-
ence
pulse
form
Pn200.0
Encoder
output
pulse
Kp : Position loop gain
K FF : Feedforward gain

The reference pulse input multiplication switching function is supported by software version 001A or later.
Pn109
Differential Feedforward Gain
+
Position loop gain (Kp)
-
Feedback pulse
Setting Unit
0 to 100 1%
Setting Unit
0 to 6400 0.01 ms
Pn400
Force reference input gain
Pn300
Speed reference input gain
*
Elec-
Reference
tronic
Smooth-
Pulse
gear
ing
Multiplier
B
× n
A
Pn218 Pn20E Pn216
Pn210 Pn217
Position
feedback
Divider
Pn281
www.dadehpardazan.ir 88594014-15
Pn10A
Feedforward Filter
Time Constant
+ +
Factory Setting
0
Factory Setting
0
Pn415
T-REF filter time constant
Pn002.0
Speed
Error
control
counter
section
Pn000.1
Position control
section
Pn522
Positioning
completed width
Speed
conver-
sion
Speed feedback
COIN

6.9 Compatible Adjustment Function

Analog
Position
Classification
When Enabled
Immediately Tuning
Position
Classification
When Enabled
Immediately Tuning
47
Servomotor
Current
Power
control
amplifier
section
Pn000.1
Current feedback
M
6
ENC
6-63