Speed Feed-Forward - YASKAWA E-II Series User Manual

9 Adjustments

9.4.3 Speed Feed-forward

9.4.3 Speed Feed-forward

Parameter
Pn207
Pn300
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position refer-
ence to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed 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 position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Speed feed-forward value is set using the parameter Pn300.
The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is
rated speed.
9-8
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n. 0
Disabled
n. 1
Uses V-REF terminal for speed feed-forward input.
Speed Reference Input Gain
Setting Range
150 to 3,000
(1.50 to 30.00 V/rated
speed)
Host controller
Differ-
K
ential
FF
Position
reference
Kp: Position loop gain
K : Feed-forward gain
FF
Meaning
Setting Unit
0.01 V/rated speed
SERVOPACK
V-REF (CN1-5 and -6)
Pn300
+
+
+
Kp (Pn102)
Pn100
PULS
- -
SIGN
Integration
(Pn101)
Speed
calculation
Position
Speed
Factory Setting Setting Validation
600 Immediately
Servomotor
+
Current loop
M
+
PG
Encoder
±
6V, then the speed is limited to the
Torque