YASKAWA SGD7S series Product Manual page 426

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
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.
Speed feedforward:This is effective only for position control. It is sent to the SERVOPACK from
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.
 Examples of Connections to Host Controllers
 When SERVOPACK Performs Speed Control
Ho t controller
T-REF
Differ- Differ-
K
FF
ential ential
Pn 00
V-REF
Po i t i o n
K
P
reference
input gain
Encoder
divided pul e
output
Rotary ervomotor: Pn212
Linear ervomotor: Pn281
K : Po ition loop gain
p
K : Feedforward gain
FF
 When SERVOPACK Performs Position Control
ERVOPACK (po ition control)
Ho t controller
T-REF
Differ- Differ-
K
FF
ential ential
V-REF
Differ-
K
FF
ential
Refer-
Po ition PUL , IGN
pul e
reference
Pn200
Clear ignal
= n.
input CLR
Encoder divided
pul e output
Rotary ervomotor: Pn212
Linear ervomotor: Pn281
K : Feedforward gain
FF
ERVOPACK ( peed control)
Pn400 Pn415 Pn426
Torque reference Torque feedforward
T-REF filter time
input gain average movement time
con tant
Pn 07 Pn 0C
peed reference
peed reference peed feedforward
filter time con tant average movement time
Divider
Pn415 Pn426
Pn400
T-REF filter time con tant Torque feedforward
Torque reference
i n put gai n average movement time
Pn 00 Pn 07 Pn 0C
peed reference
peed reference peed feedforward
input gain filter time con tant average movement time
Electronic
Reference
gear
ence
moo- Deviation
pul e input
B
multiplier thing counter
form
A
Pn218 Pn20E Pn216
Pn210 Pn217
X
Po ition
feedback
Divider
COIN
8.13.2 Compatible Adjustment Functions
Pn002
= n. X
peed
control
Pn000
ection
= n. X
peed
conver ion
Current feedback
peed feedback
Pn002
= n. X
peed
control
Pn000
ection
Pn000
= n. X
Po i t i o n control
= n. X
ecti o n
Pn522 peed
conver ion
Po itioning
completed width
peed feedback
8.13 Manual Tuning
ervomotor
M
Current
Power
control
amplifier
ection
ENC
ervomotor
Current
Power M
control
amplifier
ection
Current feedback
ENC
8-87
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