6.9 Compatible Adjustment Function6-656 Adjustments6.9.2 Torque FeedforwardThe torque feedforward function shortens positioning time.The torque feedforward function is valid only in speed control and position control.The host controller differentiates a speed reference to generate a torque feedforward reference, and inputs thetorque feedforward reference together with the speed or position reference to the SERVOPACK.(1) Connection ExampleConnect a speed reference signal line to V-REF (CN1-5 and -6) and a torque feedforward reference to T-REF(CN1-9 and -10) from the host controller.(2) Related ParametersTorque feedforward is set using the parameters Pn002, Pn400 and Pn415.The factory setting is Pn400 = 3.0 V/rated torque If, for example, the torque feedforward value is ± 3V, 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.• The following settings are required if model following control is used together with the speed feedforward(V-REF) input and torque feedforward (T-REF) input.-V-REFSpeed reference input gainKpPn100MENCKFF+ ++T-REF filter constant+ +Pn300-PositionreferenceDiffere-ntialHost controllerCurrent loopDividerSpeed calculationSpeed loop integraltime constantPn101ServomotorEncoderSpeed loop gainTorque reference input gainPn400Pn41 5T-REFKp: Position loop gainK FF : Feedforward gainSERVOPACKParameter Function When Enabled ClassificationPn002 n.0 Disabled [Factory setting] 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 0.1V/rated torque 30 Immediately SetupPn415T-REF Filter Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 65535 0.01 ms 0 Immediately SetupParameter Function When Enabled ClassificationPn140n.0 Model following control is not used together withspeed/torque feedforward input. Immediately Tuningn.1 Model following control is used together with speed/torque feedforward input.Speed Position TorqueSpeed Position Torque
