Yaskawa SGDH Linear Sigma Series - Manual (Page 338)

10 Adjustments
10.4.2 Force Feed-forward
10-16
10.4.2 Force Feed-forward
Parameter Meaning
Pn002 n. ††† 0 Disabled
n. ††† 2 Uses T-REF terminal for force feed-forward input.
Pn400 Force Reference Input Gain
Setting Range Setting Unit Factory Setting Setting Validation
10 to 100
(1.0 to 10.0V/Rated force)
0.1V/Rated force 30
(3.0 V/Rated force)
Immediately
The force feed-forward function is valid only in speed control (analog reference).
The force feed-forward function shortens positioning time, differentiates a speed reference at the host controller to generate
a force feed-forward reference, and inputs the force feed-forward reference together with the speed reference to the SER-
VOPACK.
Too high a force 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 speed reference signal line to V-REF (CN1-5 and -6) and a force forward-feed reference to T-REF (CN1-9 and -
10) from the host controller.
Force feed-forward is set using the parameter Pn400.
The factory setting is Pn400 = 30. If, for example, the force feed-forward value is
± 3V, then, the force is limited to ± 100%
of the rated force.
The force feed-forward function cannot be used with force limiting by analog voltage reference described in 9.11.3 Force
Limiting Using an Analog Voltage Reference.
Speed Position Force
-
V-REF (CN1-5)
Position
reference
Kp Pn100 Current loop M
PG
Differ-
ential
K
FF
Speed
calculation
Integration
(Pn101)
+ +
+
+
+
T-REF (CN1-9)
Linear
servomotor
Linear
scale
Host controller SERVOPACK
Kp: Position loop gain
K
FF
: Feed-forward gain
+ +
Pn400
Pn300
-
Divider