Speed Feed-Forward - YASKAWA SGLFW User Manual

10.4.3 Speed Feed-forward

Parameter
Pn207
n.
n.
Pn300 Speed Reference Input Gain
(1.50 to 30.00 V/Rated
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.
Host controller
Position
reference
Kp: Position loop gain
K : Feed-forward gain
FF
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.
Disabled
0
Uses V-REF terminal for speed feed-forward input.
1
Setting Range Setting Unit
150 to 3,000 0.01 V/Rated
speed)
SERVOPACK
V-REF (CN1-5 and -6)
Differ-
K
Pn300
ential
FF
+
PULS
-
SIGN
Meaning
Factory Setting
600
speed (6.00 V/Rated speed)
+
+
+
Kp ( Pn102 ) Pn100
+
-
Integration
(Pn101)
Speed
calculation
±
10.4 Servo Gain Adjustment Functions
Speed Position Force
Setting Validation
Immediately
Linear
servomotor
Current loop
M
PG
Linear
scale
6V, then the speed is limited to the
10-17
10