YASKAWA SGDA series - Using Feed-Forward Control; Using Proportional Control

APPLICATIONS OF Σ-SERIES PRODUCTS
3.6.4 Using Proportional Control
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3.6.3 Using Feed-forward Control
Feed-forward control shortens positioning time. To use feed-forward control, set the follow-
ing user constant.
Cn-1D
FFGN
Feed-forward Gain
Unit:
%
Setting
Range: 0
to 100
Factory
Setting: 0
For Position Control
Only
This user constant is for position control
(SGDA-jjjP) only.
This user constant is set to apply feed-forward fre-
quency compensation to position control inside
the Servopack.
Use this user constant to shorten positioning time.
Too high a value may cause the machine to
vibrate. For ordinary machines, set 80% or less in
this constant.
3.6.4 Using Proportional Control
1) If both bits A and B of memory switch Cn-01 are set to 0 as shown below, input signal
P-CON
serves as a PI/P control changeover switch.
• PI Control: Proportional/Integral control
• P Control: Proportional control
Cn-01 Bit A
Control Mode Selection Factory
Setting: 0
For Speed/Torque Control
Only
Cn-01Bit B
Control Mode Selection Factory
Setting: 0
For Speed/Torque Control
Only
TERMS
Feed-forward control
Control for making necessary corrections beforehand to prevent the control system from
receiving the effects of disturbance.
Using feed-forward control increases effective servo gain, enhancing response perfor-
mance.
3
SGDA- P
Positions
Reference
pulse
Differe
ntiation
Feedback pulse
SGDA- S
Speed/Torque