6.9 Compatible Adjustment Function6-676 Adjustments• 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.6.9.4 Proportional Control Operation (Proportional Operation Reference)The /P-CON signal can be sent from the host controller to select proportional control.Proportional control operation is set using parameter Pn000 (1st digit) and input signal (/P-CON).(1) Connection ExampleInput signal /P-CON (CN1-41) is used to select PI control or P control.For the control mode setting, refer to (2) Related Parameters.Parameter Function When Enabled ClassificationPn140n.0 Model following control is not used together withspeed/torque feedforward input. [Factory setting] Immediately Tuningn.1 Model following control is used together with speed/torque feedforward input.Model following control is used to set the optimum feedforward value in the servo. There-fore, the speed feedforward (V-REF) and the torque feedforward (T-REF) cannot beused together.If the optimum values for the speed feedforward (V-REF) and torque feedforward(T-REF) are not set, overshooting may occur.Type SignalNameConnectorPin Number Setting MeaningInput /P-CON CN1-41 OFF (High level) Switches to PI control.ON (Low level) Switches to P control.SERVOPACK/P-CONP/PI Switching 41CN1
