Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 45 SettingTorque feed-forward is set using parameter Pn400.The default setting at Pn400 is 30. If, for example, the torque feed-forward value is±3V, then torque is limited to ±100% of the rated torque.5.2.9 Speed Feed-Forward FunctionThe speed feed-forward function uses analog voltages and is effective only forposition control. This function is used to:• Shorten positioning time.• Differentiate a position reference at the host controller to generate a speedfeed-forward reference.• Input this reference together with the position reference to the servo amplifier.Too high a speed feed-forward value will result in either overshoot or undershoot.To prevent this, set the optimum value while closely observing the system response.Connect a position reference signal to PULS and SIGN (CN1-7, 8, 11, and 12) and aspeed feed-forward reference signal to V-REF (CN1-5 and 6).Parameter Signal Setting(0.1V/Rated Torque) Control ModePn400 Torque Reference Input Adjustment Factor Setting Range: 0 to 100Default Setting: 30 Speed/Torque ControlPositionreferenceV-REFKp (Pn102)Differential K FF Pn300SGDH Servo amplifierHost controllerIntegrationPn100(Pn101)SpeedcalculationCurrent loopPGMServomotorKp: Position loop gainK FF: Feed-Forward gain
