Speed Feedforward - YASKAWA Sigma-V Series User Manual

6 Adjustments

6.9.3 Speed Feedforward

6.9.3

Speed Feedforward

The speed forward function shortens positioning time.
This function is enabled only when the SERVOPACK performs position control.
The host controller finds the difference from the position reference to generate a speed feedforward reference,
and inputs the speed feedforward reference together with the position reference to the SERVOPACK.
(1) Example of Connection with Host Controller
Connect a position reference to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feedforward reference
to V-REF (CN1-5 and -6) from the host controller.
Host controller
V-REF
Differe-
K
FF
ntial
PULS, SIGN
Position
reference
Clear input
CLR
Encoder
output pulse
K FF : Feedforward gain
(2) Related Parameters
Speed feedforward value is set using the parameters Pn207 and Pn300.
The factory setting is Pn300 = 6.00 V/rated speed.
For example, the speed feedforward value is ±6 V, then the speed is limited to the rated speed.
Pn207
Pn300
Note: Too high a speed feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
6-68
SERVOPACK (in position control)
T-REF
Pn300
Speed reference input gain
Elec-
Refer-
Reference
tronic
Pulse
ence
Smooth-
gear
Multiplier
pulse
ing
B
× n
form
A
Pn200.0 Pn218 Pn20E Pn216
Pn210 Pn217
Divider
Pn212
Parameter
n. 0
Disabled
[Factory setting]
n. 1 Uses V-REF terminal for speed feedforward input.
Speed Reference Input Gain
Setting Range Setting Unit
150 to 3000 0.01 V/rated speed
Pn207.1
Error
counter
Pn000.1
Position control
section
Pn522
Positioning
completed width
Speed
conver-
sion
Position
feedback
COIN
Meaning
Speed
Factory Setting
600
Current
Power
Speed
control
amplifier
control
section
section
Pn000.1
Current feedback
Speed feedback
When Enabled
After restart
Position Torque
When Enabled
Immediately
Analog
Servomotor
M
ENC
Classification
Setup
Classification
Setup