6.9 Compatible Adjustment Function6-616 Adjustments(2) Related ParametersTorque feedforward is set using the parameters Pn002, Pn400, and Pn415.The factory setting is Pn400 = 3.0 V/rated torque.For example, the torque feedforward value is ± 3 V, then, the torque is limited to ± 100% of the rated torque.Note 1. Too high a torque feedforward value will result in overshooting. To prevent such troubles, set the optimum valuewhile observing the system responsiveness.2. The torque feedforward function cannot be used with torque limiting by analog voltage reference.6.9.3 Proportional ControlThe /P-CON signal can be sent from the host control to select proportional control.The speed control section uses a PI control if the reference stays zero in the speed control. This integral effectmay cause the servomotor to move. Switch the PI control to a proportional control to prevent this from occur-ring.If the speed control is set with a zero clamp function, however, a position loop will be formed so there is noneed to use this function. The speed control is set to proportional control if the /P-CON signal is ON.Proportional control operation is set using parameter Pn000.1 and input signal /P-CON.(1) /P-CON Input SignalInput signal /P-CON is used to switch between PI control and P control.Example: Factory-set Input Signal AllocationsNote: This is an example when the input signal allocations are at the default factory settings.Parameter Meaning When Enabled ClassificationPn002n.0[Factory setting] Disabled After restart Setupn.2 Uses T-REF terminal for torque feedforward input.Pn400Torque Reference Input Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled10 to 100 0.1 V 30 Immediately SetupSpeed Position TorquePn415T-REF Filter Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 65535 0.01 ms 0 Immediately SetupSpeed Position TorqueType SignalNameConnectorPin Number Setting MeaningInput /P-CON CN1-16[Factory setting]OFF (High level) Switches to PI control (proportional-integralcontrol).ON (Low level) Switches to P control (proportional control).SERVOPACK/P-CONP/PI Switching 16CN1 Analog
