Compatible Adjustment Function; Feedforward Reference; Torque Feedforward - YASKAWA JUSP-MD D01A Series User Manual

6.7

Compatible Adjustment Function

With the multi-winding drive unit, you can use the adjustment functions described in section 6.1 to 6.6 to
adjust the machine.
This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER-
VOPACK.

6.7.1 Feedforward Reference

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

6.7.2 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.
This reference and the speed reference are sent to the multi-winding drive unit.
(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.
 When the Multi-winding Drive Unit Performs Speed Control
Multi-winding drive system
Host controller
T-REF
Differe-
K
ntial FF
V-REF
Position K
P
reference
Refer-
ence
pulse
form
Pn200.0
Encoder
output
pulse
Kp : Position loop gain
K FF : Feedforward gain
Pn109
Differential Feedforward Gain
+
Position loop gain (Kp)
-
Feedback pulse
Setting Unit
0 to 100 1%
Setting Unit
0 to 6400 0.01 ms
Pn400
Torque reference input gain
Pn300
Speed reference input gain
Elec-
Reference
tronic
Smooth-
Pulse
gear
ing
Multiplier
B
× n
A
Pn218 Pn20E Pn216
Pn210 Pn217
Position
feedback
Divider
Pn212
Pn10A
Feedforward Filter
Time Constant
+ +
Factory Setting
0
Factory Setting
0
Pn415
T-REF filter time constant
Pn002.0
Speed
Error
control
counter
section
Pn000.1
Position control
section
Pn522
Positioning
completed width
Speed
conver-
sion
Speed feedback
COIN

6.7 Compatible Adjustment Function

Position
Classification
When Enabled
Immediately Tuning
Position
Classification
When Enabled
Immediately Tuning
Servomotor
Current
Power
control
amplifier
section
Pn000.1
Current feedback
M
6
ENC
6-45