Compatible Adjustment Function; Feedforward Reference (Pulse Train Reference); Torque Feedforward (Analog Voltage Reference) - YASKAWA SGDV User Manual

6 Adjustments

6.9.1 Feedforward Reference (Pulse Train Reference)

6.9

Compatible Adjustment Function

The DC Power Input Σ-V series 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-III Series SERVOPACK.
6.9.1

Feedforward Reference (Pulse Train Reference)

This function applies feedforward compensation to position control and shortens positioning time. This function can be
used only with a SERVOPACK for pulse train references.
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 (Analog Voltage Reference)

The torque feedforward function shortens positioning time. This function can be used only with a SERVO-
PACK for analog voltages.
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 (CN1-1 and -2) and a torque feedforward reference to T-REF (CN1-3 and
-4) from the host controller.
Host controller
Differe-
ntial
Position
K
reference
Encoder
output
pulse
Kp : Position loop gain
K FF : Feedforward gain
6-60
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
K Torque reference input gain
FF
Pn300
V-REF
Speed reference input gain
P
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
Speed
conversion
Speed feedback
Analog
+ +
Position
When Enabled
0 Immediately
Position
When Enabled
0 Immediately
Current Power
Speed
control amplifier
control
section
section
Pn000.1
Current feedback
Classification
Tuning
Classification
Tuning
Ana-
log
Servomotor
M
ENC