YASKAWA E-7-Series SGD7S - Page 377

8.12 Manual Tuning
8.12.2 Compatible Adjustment Functions
8-78
 Examples of Connections to Host Controllers
 When SERVOPACK Performs Speed Control
 When SERVOPACK Performs Position Control
 Related Parameters
 Torque Feedforward
Torque feedforward is allocated to T-REF (Pn002 = n.X) and it is set using the torque ref-
erence input gain (Pn400) and T-REF filter time constant (Pn415).
The default setting of Pn400 is 30. Therefore, if the torque feedforward value is ±3 V, then the
torque is limited to ±100% of the rated torque.
Parameter Meaning When Enabled Classification
Pn002
n.
0
(default setting)
Do not use T-REF.
After restart Setup
n.
1 Use T-REF as an external torque limit input.
n.2 Use T-REF as a torque feedback input.
n.
3
Use T-REF as an external torque limit input
when /P-CL or /N-CL is active.
Pn400
Torque Reference Input Gain
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 100 0.1 V/rated torque 30 Immediately Setup
Pn415
T-REF Filter Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 65,535 0.01 ms 0 Immediately Setup
Pn002
= n.X
Kp: Position loop gain
K
FF: Feedforward gain
Pn000
= n.X
Host controller
SERVOPACK (speed control)
M
Pn400
T-REF
V-REF
K
FF
K
P
Pn300 Pn307 Pn30C
Pn415 Pn426
ENC
Speed feedforward
average movement time
Encoder
divided pulse
output
Linear Servomotor: Pn281
Rotary Servomotor: Pn212
Divider
Speed feedback
Speed
conversion
Current feedback
Current
control
section
Speed
control
section
Speed reference
lter time constant
Speed reference
input gain
Torque reference
input gain
T-REF lter time
constant
Torque feedforward
average movement time
Power
amplier
Servomotor
Position
reference
Differ-
ential
Differ-
ential
Analog
Host controller
COIN
M
Pn400
T-REF
V-REF
CLR
K
FF
Pn300 Pn307 Pn30C
Pn415 Pn426
ENC
Pn218
Pn20E
Pn210
Pn216
Pn217
K
FF
Servomotor
Power
amplier
Pn522
Positioning
completed width
PULS, SIGN
B
A
Pn200
= n.X
Pn000
= n.
X
Pn000
= n.
X
Pn002
= n.X
Differ-
ential
Clear signal
input
Encoder divided
pulse output
K
FF : Feedforward gain
Linear Servomotor: Pn281
Rotary Servomotor: Pn212
Divider
Position
feedback
Speed feedback
Current feedback
Current
control
section
Speed
control
section
Position control
section
Deviation
counter
Smoo-
thing
Electronic
gear
Reference
pulse input
multiplier
Refer-
ence
pulse
form
Speed feedforward
average movement time
Speed reference
lter time constant
Speed reference
input gain
Torque feedforward
average movement time
T-REF lter time constant
Torque reference
input gain
SERVOPACK (position control)
Speed
conversion
Position
reference
Differ-
ential
Differ-
ential
Analog
Speed
Position
Torque
Speed
Position
Torque