5.9 Adjustments
Cable Color Signal Name
Description
Red VTG-M
Speed monitor
SGMG, SGMD T 2 V/±1000 r/min
SGMS, SGM, SGMP T 1 V/±1000 r/min
White
TRQ-M
To r q u e monitor
:2V/±100% torque
Black (2 wires) GND
GND
• Cable Colors and Monitor Signals
5.9.3 Functions that Improve Response
The following functions are provided to improve response.
• Mode switching
• Feed-forward control
• Bias
These functions will not necessarily improve characteristics, and they can even have the opposite
effect. Be sure to observe the precautions given below, and monitor the actual response of the
characteristics while making adjustments.
â– Mode Switching
Mode switching is used to improve transient characteristics if the torque reference saturates dur-
ing acceleration and deceleration. In other words, mode switching is a function that automatical-
ly switches the speed control mode inside the SERVOPACK from PI (proportional/integral) to
P (proportional) control above a certain setting.
â– Feed-forward Control
Feed-forward control generally shortens positioning time, but has no effect on systems where
the position loop gain is at its maximum. Adjust the amount of feed-forward control using
Cn-001D as outlined below.
1. Adjust the speed and position loop.
2. Gradually increase the amount of feed-forward control set in Cn-001D until the positioning
complete status (PSET) is output as quickly possible.
A primary lag filter may be added to the feed-forward line to improve characteristics when
the positioning complete signal is intermittent or when speed overshooting occurs due to ex-
cessive feed-forward control.
Make sure during adjustment that the position complete status (PSET) is not in-
termittent (repeatedly turning ON and OFF) and that the speed is not overshoot.
Setting the amount of feed-forward control too high will cause a intermittent posi-
tioning complete status (changing from "1" to "0" and then to "1") as well as speed
overshooting.
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