Compatible Adjustment Function; Feedforward Reference; Torque Feedforward - YASKAWA Sigma-V Series User Manual

6 Adjustments

6.9.1 Feedforward Reference

6.9

Compatible Adjustment Function

The Σ-V large-capacity 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 Σ-II large-capacity SER-
VOPACK.

6.9.1 Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.
Position
reference pulse
Pn109
Pn10A
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.
6.9.2

Torque Feedforward

The torque feedforward function shortens positioning time.
The host controller finds the difference from the position reference to generate a torque feedforward reference,
and inputs the torque 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 torque feedforward reference to T-REF (CN1-9 and
-10) from the host controller.
SERVOPACK in Speed Control
Host controller
Differe-
K
ntial FF
Position
K
P
reference
Encoder
output
pulse
Kp : Position loop gain
K FF : Feedforward gain
6-66
Pn109
Feedforward Gain
Differential
+
-
Feedback pulse
Feedforward Gain
Setting Range
0 to 100
Feedforward Filter Time Constant
Setting Range
0 to 6400
SERVOPACK (in speed control)
Pn400
T-REF
Torque reference input gain
Pn300
V-REF
Speed reference input gain
Elec-
Refer-
Reference
tronic
Smooth-
ence
Pulse
gear
pulse Multiplier ing
B
× n
form
A
Pn200.0 Pn218 Pn20E Pn216
Pn210 Pn217
Divider
Pn212
Pn10A
Feedforward Filter
Time Constant
Position loop gain (Kp)
Setting Unit Factory Setting
1%
Setting Unit Factory Setting
0.01 ms
Pn415
T-REF filter time constant
Pn002.0
Error
counter
Pn000.1
Position control
section
Pn522
Positioning
completed width
Speed
conver-
sion
Position
feedback
COIN
Analog
+ +
Position
When Enabled
0 Immediately
Position
When Enabled
0 Immediately
Speed
Current
Power
control control
amplifier
section
section
Pn000.1
Current feedback
Speed feedback
Classification
Tuning
Classification
Tuning
Analog
Servomotor
M
ENC