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8.12 Manual Tuning
8.12.2 Compatible Adjustment Functions
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
Related Parameters
Torque Feedforward
Torque feedforward is allocated to T-REF (Pn002 = n.X) and it is set using the torque ref-
erence input gain (Pn400) and T-REF filter time constant (Pn415).
The default setting of Pn400 is 30. Therefore, if the torque feedforward value is ±3 V, then the
torque is limited to ±100% of the rated torque.
Pn002
Pn400
Pn415
8-78
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
input
CLR
Encoder divided
pulse output
Divider
Rotary Servomotor: Pn212
Linear Servomotor: Pn281
Parameter
n.
0
Do not use T-REF.
(default setting)
n.
1
Use T-REF as an external torque limit input.
n.
2
Use T-REF as a torque feedback input.
Use T-REF as an external torque limit input
n.
3
when /P-CL or /N-CL is active.
Torque Reference Input Gain
Setting Range
Setting Unit
10 to 100
0.1 V/rated torque
T-REF Filter Time Constant
Setting Range
Setting Unit
0 to 65,535
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
Torque feedforward
T-REF filter time constant
average movement time
Pn307
Pn30C
Speed reference
Speed feedforward
filter time constant
average movement time
Electronic
gear
Deviation
Smoo-
B
counter
thing
Pn000
A
= n.
Posi t i o n control
Pn216
secti o n
Pn210
Pn217
Pn522
Position
Positioning
feedback
completed width
COIN
Meaning
Default Setting
30
Default Setting
0.01 ms
0
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
When Enabled
After restart
Speed
Position
When Enabled
Immediately
Speed
Position
When Enabled
Immediately
Servomotor
M
Power
amplifier
ENC
Analog
Servomotor
Power
M
amplifier
ENC
Analog
Classification
Setup
Torque
Classification
Setup
Torque
Classification
Setup
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