Yaskawa Σ-V Series AC Servo Drives Rotational Motor Analog Voltage Reference - Manual (Page 212)

6.9 Compatible Adjustment Function
6-61
6
Adjustments
(2) Related Parameters
Torque feedforward is set using the parameters Pn002, Pn400, and Pn415.
The factory setting is Pn400 = 3.0 V/rated torque.
For example, the torque feedforward value is
± 3 V, then, the torque is limited to ± 100% of the rated torque.
Note 1. Too high a torque feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
2. The torque feedforward function cannot be used with torque limiting by analog voltage reference.
6.9.3 Proportional Control
The /P-CON signal can be sent from the host control to select proportional control.
The speed control section uses a PI control if the reference stays zero in the speed control. This integral effect
may cause the servomotor to move. Switch the PI control to a proportional control to prevent this from occur-
ring.
If the speed control is set with a zero clamp function, however, a position loop will be formed so there is no
need to use this function. The speed control is set to proportional control if the /P-CON signal is ON.
Proportional control operation is set using parameter Pn000.1 and input signal /P-CON.
(1) /P-CON Input Signal
Input signal /P-CON is used to switch between PI control and P control.
Example: Factory-set Input Signal Allocations
Note: This is an example when the input signal allocations are at the default factory settings.
Parameter Meaning When Enabled Classification
Pn002
n. 0
[Factory setting]
Disabled
After restart Setup
n. 2 Uses T-REF terminal for torque feedforward input.
Pn400
Torque Reference Input Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
10 to 100 0.1 V 30 Immediately Setup
Speed Position Torque
Pn415
T-REF Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 0 Immediately Setup
Speed Position Torque
Type
Signal
Name
Connector
Pin Number
Setting Meaning
Input /P-CON
CN1-16
[Factory setting]
OFF (High level)
Switches to PI control (proportional-integral
control).
ON (Low level) Switches to P control (proportional control).
SERVOPACK
/P-CON
P/PI Switching
16
CN1
Analog