Setting Parameters - YASKAWA S-7 Series Command Manual

6.3 Torque Feedforward Function

6.3.2 Setting Parameters

6.3.2

Setting Parameters

This section describes the parameters that are related to the torque feedforward reference.
Pn81F (Position Control Command TFF/TLIM Allocation)
You must set Pn81F (Position Control Command TFF/TLIM Allocation) to use the torque feed-
forward reference. (The torque limit is enabled for the default setting.)
Parameter
Pn81F =
n.X
Pn426 (Torque Feedforward Average Movement Time)
If the communications cycle with the host controller is slow, the torque feedforward reference
may be applied stepwise as shown on the left in the following figure.
Communications cycle
You can set Pn426 (Torque Feedforward Average Movement Time) to a suitable value to create
a smooth torque feedforward reference, as shown on the right in the above figure.
As a guideline, set Pn426 to the same value as the communications cycle.
Pn426
6-8
Position Control Command TFF/TLIM Allocation
 
n. 1 Enable allocation. (The operation for TFF/TLIM is set in Pn002.)
Torque Feedforward Average Movement Time
Setting Range Setting Unit
0 to 5,100 –
Meaning
Speed
Default Setting When Enabled
0 Immediately
Position
Classification
Setup