Proportional Control - YASKAWA SGDV User Manual

(2) Related Parameters
Torque feedforward is set using the parameters Pn002, Pn400, and Pn415.
The factory setting is Pn400 = 3.0 V/rated torque.
For example, the torque feedforward value is
Parameter
n.
[Factory setting]
Pn002
n.
Torque Reference Input Gain
Pn400
Setting Range
10 to 100
Note 1. Too high a torque feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
2. The torque feedforward function cannot be used with torque limiting by analog voltage reference.
T-REF Filter Time Constant
Pn415
Setting Range
0 to 65535

6.9.3 Proportional Control

The /P-CON signal can be sent from the host control to select proportional control.
The speed control section uses a PI control if the reference stays zero in the speed control. This integral effect
may cause the servomotor to move. Switch the PI control to a proportional control to prevent this from occur-
ring.
If the speed control is set with a zero clamp function, however, a position loop will be formed so there is no
need to use this function. The speed control is set to proportional control if the /P-CON signal is ON.
Proportional control operation is set using parameter Pn000.1 and input signal /P-CON.
(1) /P-CON Input Signal
Input signal /P-CON is used to switch between PI control and P control.
Signal
Type
Name
Input /P-CON
Example: Factory-set Input Signal Allocations
P/PI Switching
/P-CON
Note: This is an example when the input signal allocations are at the default factory settings.
±
3 V, then, the torque is limited to
0
Disabled
2 Uses T-REF terminal for torque feedforward input.
Setting Unit
0.1 V
Setting Unit
0.01 ms
Connector
Pin Number
OFF (High level)
CN1-16
[Factory setting]
ON (Low level)
SERVOPACK
Analog
CN1
16
6.9 Compatible Adjustment Function
Meaning
Speed Position
Factory Setting
30
Speed Position
Factory Setting
0
Setting
Switches to PI control (proportional-integral
control).
Switches to P control (proportional control).
±
100% of the rated torque.
When Enabled Classification
After restart Setup
Torque
Classification
When Enabled
Immediately Setup
Torque
Classification
When Enabled
Immediately Setup
Meaning
6
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