YASKAWA JUSP-MD D01A Series - Compatible Adjustment Function; Feedforward Reference; Torque Feedforward

6.7 Compatible Adjustment Function
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6
Adjustments
6.7 Compatible Adjustment Function
With the multi-winding drive unit, you can use the adjustment functions described in section 6.1 to 6.6 to
adjust the machine.
This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER-
VOPACK.
6.7.1 Feedforward Reference
This function applies feedforward compensation to position control and shortens positioning time.
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.
6.7.2 Torque Feedforward
The torque feedforward function shortens positioning time.
The host controller finds the difference from the position reference to generate a torque feedforward reference.
This reference and the speed reference are sent to the multi-winding drive unit.
(1) Example of Connection with Host Controller
Connect a speed reference to V-REF (CN1-5 and -6) and a torque feedforward reference to T-REF (CN1-9 and
-10) from the host controller.
 When the Multi-winding Drive Unit Performs Speed Control
Pn109
Feedforward Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 0 Immediately Tuning
Pn10A
Feedforward Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 6400 0.01 ms 0 Immediately Tuning
+
+
+
-
Pn109
Pn10A
Position
reference pulse
Feedback pulse
Position loop gain (Kp)
Feedforward Gain
Differential
Feedforward Filter
Time Constant
Position
Position
COIN
Multi-winding drive system
M
Divider
Pn200.0 Pn218 Pn20E
Pn210
Pn400
T-REF
V-REF
K
FF
K
P
Pn300
Pn415
Pn212
Pn216
Pn217
Pn002.0
ENC
Kp
K
FF
: Feedforward gain
: Position loop gain
Pn000.1 Pn000.1
Speed reference input gain
T-REF filter time constant
Position
reference
Differe-
ntial
Host controller
Servomotor
Torque reference input gain
Refer-
ence
pulse
form
Elec-
tronic
gear
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
B
A
Reference
Pulse
Multiplier
× n