Proportional Control Operation (Proportional Operation Reference) - YASKAWA E-V Series User Manual

• The following settings are required if model following control is used together with the speed feedforward
(V-REF) input and force feedforward (T-REF) input.
Parameter
n.0
Pn140
n.1

6.8.4 Proportional Control Operation (Proportional Operation Reference)

When sending references from the host controller to the SERVOPACK, proportional control mode can be
selected from the host controller for particular operating conditions.
Proportional control operation is set using parameter Pn000 (1st digit) and input signal (/P-CON).
(1) Connection Example
Input signal /P-CON (CN1-41) is used to select PI control or P control.
For the control mode setting, refer to (2) Related Parameters.
Signal
Type
Name
Input
/P-CON
Parameter
Speed
n. 0
Control
Pn000
Position
n. 1
Control
Function
Model following control is not used together with
external speed/force feedforward input.
[Factory setting]
Model following control is used together with exter-
nal speed/force feedforward input.
Model following control sets the optimum feedforward value in the servo. Therefore, usu-
ally model following control does not use the speed feedforward (V-REF) and the force
feedforward (T-REF) together.
If the speed feedforward (V-REF) value and force feedforward (T-REF) value are improp-
erly input, overshooting may occur.
Connector
Pin Number
OFF (High level)
CN1-41
ON (Low level)
Control Mode
Input signal /P-CON (CN1-41) is used to select PI
control or P control.
P/PI Switching
/P-CON
CN1-41 is OFF (high level): PI control
CN1-41 is ON (low level): P control
6.8 Servo Gain Adjustment Application Function
When Enabled
Immediately
Setting
Switches to PI control.
Switches to P control.
When Enabled
SERVOPACK
CN1
After restart
41
Classification
Tuning
Meaning
Classification
Setup
6-55
6