Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

9.4 Servo Gain Adjustment Functions9.4.3 Speed Feed-forwardParameterMeaningPn207 n.0 Disabledn.1 Uses V-REF terminal for speed feed-forward input.Pn300Speed Reference Input GainSpeed Position TorqueSetting Range Setting Unit Factory Setting Setting Validation150 to 3,000(1.50 to 30.00 V/Ratedspeed)0.01 V/Ratedspeed600 ImmediatelyThe speed feed-forward function uses analog voltages and is valid only in position control.The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position referenceto generate the feed-forward reference, and inputs the feed-forward reference together with the position reference tothe SERVOPACK.Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimumvalue while observing the system responsiveness.Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward referencesignal line to V-REF (CN1-5 and -6) from the host controller.Host controllerSERVOPACKPositionreferenceDifferentialV-REF (CN1-5 and -6)K FF Pn300++ ++Kp ( Pn102 )Pn100PULS -- +SIGNIntegration(Pn101)Current loopServomotorMSpeedcalculationPGEncoderKp: Position loop gainK FF : Feed-forward gainSpeed feed-forward value is set using the parameter Pn300.The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is ±6V, then the speed is limited to therated speed.99-17