6.7 Compatible Adjustment Function6-456 Adjustments6.7 Compatible Adjustment FunctionWith the multi-winding drive unit, you can use the adjustment functions described in section 6.1 to 6.6 toadjust the machine.This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER-VOPACK.6.7.1 Feedforward ReferenceThis 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 FeedforwardThe 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 ControllerConnect 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 ControlPn109Feedforward Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 100 1% 0 Immediately TuningPn10AFeedforward Filter Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 6400 0.01 ms 0 Immediately Tuning+ + +-Pn109 Pn10APositionreference pulseFeedback pulsePosition loop gain (Kp)Feedforward GainDifferential Feedforward FilterTime ConstantPositionPositionCOINMulti-winding drive systemMDividerPn200.0 Pn218 Pn20EPn210Pn400T-REFV-REFKFFKPPn300Pn415Pn212Pn216Pn217Pn002.0ENCKpKFF : Feedforward gain: Position loop gainPn000.1 Pn000.1Speed reference input gainT-REF filter time constantPositionreferenceDiffere-ntialHost controllerServomotorTorque reference input gainRefer-encepulseformElec-tronicgear Smooth-ingPositionfeedbackErrorcounterPn522Positioningcompleted width Speedconver-sionSpeedcontrolsectionCurrentcontrolsectionPoweramplifierCurrent feedbackSpeed feedbackPosition controlsectionEncoderoutputpulseBAReferencePulseMultiplier× n
