Torque Feedforward - YASKAWA JUSP-MD D01A Series User Manual

6 Adjustments

6.7.2 Torque Feedforward

 When the Multi-winding Drive Unit Performs Position Control
Host controller
Differe-
K
FF
ntial
PULS, SIGN
Position
reference
Clear input
Encoder
output pulse
K FF : Feedforward gain
(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
Pn002
Pn400
Note 1. Too high a torque feedforward value will result in overshooting. To prevent such troubles, set the optimum value
2. The torque feedforward function cannot be used with torque limiting by analog voltage reference.
Pn415
6-46
Multi-winding drive system
Pn400
T-REF
Torque reference input gain
Pn300
V-REF
Speed reference input gain
Elec-
Refer-
Reference
tronic
Smooth-
ence Pulse
gear
Multiplier
ing
pulse B
× n
form A
Pn200.0 Pn218 Pn20E Pn216
Pn210 Pn217
CLR
Divider
Pn212
Parameter

n. 0 [Fac-
Disabled
tory setting]

n. 2 Uses T-REF terminal for torque feedforward input.
Torque Reference Input Gain
Setting Range
10 to 100 0.1 V/rated torque
while observing the system responsiveness.
T-REF Filter Time Constant
Setting Range
0 to 65535
Pn415
T-REF filter time constant
Error
counter
Pn000.1
Position control
section
Pn522 positioning
completed width
Speed
conver-
sion
Position
feedback
COIN
±
3 V, then, the torque is limited to
Meaning
Speed
Setting Unit Factory Setting
Speed
Setting Unit Factory Setting
0.01 ms
Pn002.0
Current
Speed
control
control
section
section
Pn000.1
Current feedback
Speed feedback
±
100% of the rated torque.
When Enabled Classification
After restart
Position Torque
When Enabled
30 Immediately
Position
Torque
When Enabled
0 Immediately
Servomotor
Power M
amplifier
ENC
Setup
Classification
Setup
Classification
Setup