6 Adjustments6.9.3 Speed Feedforward6-686.9.3 Speed FeedforwardThe speed forward function shortens positioning time.This function is enabled only when the SERVOPACK performs position control.The host controller finds the difference from the position reference to generate a speed feedforward reference,and inputs the speed feedforward reference together with the position reference to the SERVOPACK.(1) Example of Connection with Host ControllerConnect a position reference to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feedforward referenceto V-REF (CN1-5 and -6) from the host controller.(2) Related ParametersSpeed feedforward value is set using the parameters Pn207 and Pn300.The factory setting is Pn300 = 6.00 V/rated speed.For example, the speed feedforward value is ±6 V, then the speed is limited to the rated speed.Note: Too high a speed feedforward value will result in overshooting. To prevent such troubles, set the optimum valuewhile observing the system responsiveness.COINMPn200.0 Pn218 Pn20EPn210T-REFV-REFCLRPULS, SIGNPn300Pn212Pn216Pn217Pn207.1ENCK FFPn000.1 Pn000.1ServomotorHost controllerSpeed reference input gainSERVOPACK (in position control)DividerClear inputPositionreferenceDiffere-ntialRefer-encepulseformSmooth-ingPositionfeedbackErrorcounterPn522Positioningcompleted widthSpeedconver-sionSpeedcontrolsectionCurrentcontrolsectionPoweramplifierCurrent feedbackSpeed feedbackPosition controlsectionEncoderoutput pulseElec-tronicgearBAKFF : Feedforward gainReferencePulseMultiplier× nAnalogParameter Meaning When Enabled ClassificationPn207n.0[Factory setting] Disabled After restart Setupn.1 Uses V-REF terminal for speed feedforward input.Pn300Speed Reference Input Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled150 to 3000 0.01 V/rated speed 600 Immediately SetupSpeed Position Torque
