Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 271)

6 Adjustments
6.9.3 Speed Feedforward
6-68
6.9.3 Speed Feedforward
The speed forward function shortens positioning time.
This function is enabled only when the SERVOPACK performs position control.
The host controller finds the difference from the position reference to generate a speed feedforward reference,
and inputs the speed feedforward reference together with the position reference to the SERVOPACK.
(1) Example of Connection with Host Controller
Connect a position reference to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feedforward reference
to V-REF (CN1-5 and -6) from the host controller.
∗ The reference pulse input multiplication switching function is supported by software version 001A or later.
(2) Related Parameters
Speed feedforward value is set using the parameters Pn207 and Pn300.
The factory setting is Pn300 = 6.00 V/rated speed.
For example, the speed feedforward value is ±6 V, then the speed is limited to the rated speed.
Note: Too high a speed feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
COIN
M
Pn200.0 Pn218 Pn20E
Pn210
T-REF
V-REF
CLR
PULS, SIGN
Pn300
Pn212
Pn216
Pn217
Pn207.1
ENC
K
FF
Pn000.1 Pn000.1
Servomotor
Host controller
Speed reference input gain
SERVOPACK (in position control)
Divider
Clear input
Position
reference
Differe-
ntial
Refer-
ence
pulse
form
Smooth-
ing
Position
feedback
Error
counter
Pn522
Positioning
completed width
Speed
conver-
sion
Speed
control
section
Current
control
section Power
amplifier
Current feedback
Speed feedback
Position control
section
Encoder
output pulse
Elec-
tronic
gear
B
A
KFF : Feedforward gain
*
Reference
Pulse
Multiplier
× n
45
Parameter Meaning When Enabled Classification
Pn207
n. 0
[Factory setting]
Disabled
After restart Setup
n. 1 Uses V-REF terminal for speed feedforward input.
Pn300
Speed Reference Input Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
150 to 3000 0.01 V/rated speed 600 Immediately Setup
Speed Position Torque