Yaskawa Large Capacity Sigma II Series - Manual (Page 122)

4 Parameter Settings and Functions
4.2.9 Speed Feed-forward Function
4-46
4.2.9 Speed Feed-forward Function
The speed feed-forward function uses analog voltages and is effective only for position con-
trol.
The feed-forward function can be used to shorten positioning time. The host controller cre-
ates a feed-forward reference based on the differential of the position reference.
Overshooting and undershooting can result if too much feed-forward is used. Set the opti-
mum settings based on the actual response.
The position reference from the host controller is connected to PULS and SIGN (CN1-7, 8,
11, and 12) and the speed feed-forward reference is connected to V-REF (CN1-5 and 6).
„ Using the Speed Feed-forward Function
Set the following parameter to 1 to use the analog voltage speed feed-forward function.
This setting will enable the speed feed-forward function.
„ Setting
The speed feed-forward value is set in parameter Pn300.
The factory setting of Pn300 is 600, for which a speed feed-forward value of ±6 V will pro-
duce the rated speed.
Pn207.1 Position Control Option Factory
Setting:
0
Position Control
Pn207.1 Setting Description
0 No feed-forward function
1 V-REF terminal used for a speed feed-forward input.
Pn300 Speed Reference
Input Gain Unit:
0.01V/
rated
speed
Setting
Range:
150 to 3000
Factory
Setting:
600
Speed/Torque
Control,
Position Control
Pn100 M
PG
K FF
+
- +
+
V-REF
+
Kp ( Pn102 )
+
-
Position
reference
Current loop
Speed
calculation
Integration
(Pn101)
Servomotor
Encoder
Host controller SGDH SERVOPACK
Kp: Position loop gain
K
FF
: Feed-forward gain
Differ-
ential
Pn300