Table of Contents
Advertisement
Torque feedforward average movement time
Pn426
Setting Range
0 to 5,100
Note: 1. Overshooting will occur if you set the torque feedforward too high. Set the optimum value while monitoring
the response.
2. You cannot use the torque feedforward function together with torque limiting with an analog voltage refer-
ence.
Speed Feedforward
You set the speed feedforward function with the position control option (Pn207 = n.X)
and the speed reference input gain (Pn300).
The default setting of Pn300 is 600. Therefore, if the speed feedforward value is ±6 V, then it
will indicate the rated speed.
Parameter
n.
0
(default setting)
Pn207
n.
1
Speed Reference Input Gain
Setting Range
Pn300
150 to 3,000
Speed Reference Filter Time Constant
Pn307
Setting Range
0 to 65,535
Speed Feedforward Average Movement Time
Pn30C
Setting Range
0 to 5,100
Note: Overshooting will occur if you set the feedforward too high. Set the optimum value while monitoring the
response.
Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
Without Mode Switching
Motor
Overshooting
speed
Reference
Overshooting
Setting Unit
Default Setting
0.1 ms
Meaning
Do not use V-REF.
Use V-REF as a speed feedback input.
Setting Unit
Default Setting
0.01 V/Rated
motor speed
Setting Unit
Default Setting
0.01 ms
Setting Unit
Default Setting
0.1 ms
Actual Servomotor
operation
Time
Settling time
8.12.2 Compatible Adjustment Functions
When Enabled
0
Immediately
When Enabled
After restart
Speed
Position
When Enabled
600
Immediately
When Enabled
40
Immediately
When Enabled
0
Immediately
With Mode Switching
Motor
speed
Settling time
8.12 Manual Tuning
Classification
Setup
Classification
Setup
Torque
Classification
Setup
Classification
Setup
Classification
Setup
8
Time
8-79
Advertisement
Table of Contents
Troubleshooting
