Speed Feedforward - YASKAWA JUSP-MD D01A Series User Manual

6.7.3 Speed Feedforward

The speed forward function shortens positioning time.
This function is enabled only when the multi-winding drive unit performs position control.
The host controller finds the difference from the position reference to generate a speed feedforward reference,
and inputs the speed feedforward reference together with the position reference to the multi-winding drive
unit.
(1) Example of Connection with Host Controller
Connect a position reference to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feedforward reference
to V-REF (CN1-5 and -6) from the host controller.
Host controller
Multi-winding drive system
T-REF
V-REF
Differe-
K
FF
ntial
Refer-
PULS, SIGN
Position
ence
reference
pulse
form
Pn200.0
Clear input
CLR
Encoder
output pulse
K FF : Feedforward gain
(2) Related Parameters
Speed feedforward value is set using the parameters Pn207 and Pn300.
The factory setting is Pn300 = 6.00 V/rated speed.
For example, the speed feedforward value is ±6 V, then the speed is limited to the rated speed.
Parameter

n.
[Factory setting]
Pn207

n.
Speed Reference Input Gain
Pn300
Setting Range
150 to 3000
Note: Too high a speed feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
Pn300
Speed reference input gain
Elec-
Reference
tronic
Pulse
Smooth- Error
gear
Multiplier
B ing counter
× n
A
Pn218 Pn20E Pn216
Pn210 Pn217
Position
feedback
Divider
Pn212
COIN

0
Disabled

1 Uses V-REF terminal for speed feedforward input.
Setting Unit
0.01 V/rated speed
Pn207.1
Speed
control
section
Pn000.1 Pn000.1
Position control
section
Pn522
Positioning
completed width
Speed
conver-
sion
Speed feedback
Meaning
Speed Position
Factory Setting
600
6.7 Compatible Adjustment Function
Analog
Servomotor
M
Current
Power
control
amplifier
section
Current feedback
ENC
When Enabled Classification
After restart Setup
Torque
Classification
When Enabled
Immediately Setup
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