Servo Gain Adjustment Functions; Feed-Forward Reference; Torque Feed-Forward - YASKAWA E-II Series User Manual

9.4 Servo Gain Adjustment Functions

9.4.1 Feed-forward Reference

Pn109 Feed-forward
Pn10A Feed-forward Filter Time Constant
Applies feed-forward compensation in position control inside
SERVOPACK
the
time. Too high value may cause the machine to vibrate. For
ordinary machines, set 80% or less in this parameter.

9.4.2 Torque Feed-forward

Parameter
Pn002 n.
n.
Pn400 Torque Reference Input Gain
(1.0 to 10.0 V/rated torque)
The torque feed-forward function is valid only in speed control (analog reference).
The torque feed-forward function shortens positioning time, differentiates a speed reference at the host controller to gener-
ate a torque feed-forward reference, and inputs the torque feed-forward reference together with the speed reference to the
SERVOPACK.
Too high a torque feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the opti-
mum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a torque forward-feed reference to T-REF (CN1-9 and
-10) from the host controller.
Host controller
Position
reference
Kp: Position loop gain
K
FF
Torque feed-forward is set using the parameter Pn400.
The factory setting is Pn400 = 30. If, for example, the torque feed-forward value is
±
100% of the rated torque.
The torque feed-forward function cannot be used with torque limiting by analog voltage reference described in 8.9.3
Torque Limiting Using an Analog Voltage Reference.
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Setting Range Setting Unit
0 to 100
Setting Range Setting Unit
0 to 6,400
(0.00 to 64.00 ms)
. Use this parameter to shorten positioning
0
Disabled
2
Uses T-REF terminal for torque feed-forward input.
Setting Range
10 to 100 0.1 V/rated torque
Differ-
K
FF
ential
+
Kp
+
-
: Feed-forward gain
Factory Setting
1 % 0
Factory Setting
0.01ms 0
Position
reference pulse
Meaning
Setting Unit Factory Setting
30
SERVOPACK
T-REF (CN1-9)
Pn400
+
V-REF (CN1-5)
+
Pn100
Pn300
+
-
Integration
(Pn101)
Speed
calculation
Divider

9.4 Servo Gain Adjustment Functions

Position
Setting Validation
Immediately
Position
Setting Validation
Immediately
Differ-
Pn109 Pn10A
ential
+
+ +
Position loop
gain Kp
-
Encoder feedback pulse
Speed Position Torque
Setting Validation
Immediately
Servomotor
+
Current loop M
+
PG
Encoder
±
3V, then, the torque is limited to
9
9-7