Speed Feed-Forward - YASKAWA SGDH User Manual

9.4.3 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.
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.
0
Disabled
1
Uses V-REF terminal for speed feed-forward input.
Setting Range Setting Unit
150 to 3,000 0.01 V/Rated
speed)
9-17
Meaning
Factory Setting
600
speed
±
9.4 Servo Gain Adjustment Functions
Speed Position Torque
Setting Validation
Immediately
6V, then the speed is limited to the
9