• The following settings are required if model following control is used together with the speed feedforward
(V-REF) input and torque feedforward (T-REF) input.
6.9.4 Proportional Control Operation (Proportional Operation Reference)
The /P-CON signal can be sent from the host controller to select proportional control.
Proportional control operation is set using parameter Pn000 (1st digit) and input signal (/P-CON).
(1) Connection Example
Input signal /P-CON (CN1-41) is used to select PI control or P control.
For the control mode setting, refer to (2) Related Parameters.
Parameter Function When Enabled Classification
Pn140
n.0
Model following control is not used together with
speed/torque feedforward input. [Factory setting]
Immediately Tuning
n.1
Model following control is used together with speed/
torque feedforward input.
Model following control is used to set the optimum feedforward value in the servo. There-
fore, the speed feedforward (V-REF) and the torque feedforward (T-REF) cannot be
used together.
If the optimum values for the speed feedforward (V-REF) and torque feedforward
(T-REF) are not set, overshooting may occur.
Type
Signal
Name
Connector
Pin Number
Setting Meaning
Input /P-CON CN1-41
OFF (High level) Switches to PI control.
ON (Low level) Switches to P control.
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