Setting Combined Functions; Related Parameters - YASKAWA SGD7S Product Manual

8.10.5

Setting Combined Functions

You can also use the feedforward function when you execute vibration suppression.
In the default settings, feedforward (Pn109), the speed feedforward input (VFF), and the torque
feedforward input (TFF) are disabled.
To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model fol-
lowing control from the host controller in the system, set Pn140 to n.1 (Use model follow-
ing control and speed/torque feedforward together).
Parameter

n.0
(default setting)
Pn140

n.1
Refer to the following manual for information on the torque feedforward input (TFF) and the
speed feedforward input (VFF).
Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (VFF) or torque feedforward input (TFF) from the
Important
host controller. However, model following control can be used with the speed feedforward input
(VFF) or torque feedforward input (TFF) if required. An unsuitable feedforward input may result in
overshooting.
8.10.6

Related Parameters

The following parameters are automatically adjusted or used as reference when you execute
vibration suppression.
Do not change the settings while vibration suppression is being executed.
Parameter
Pn140
Pn141
Pn142
Pn143
Pn144
Pn145
Pn146
Pn147
Pn14A
Pn14B
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
Do not use model following control and
speed/torque feedforward together.
Use model following control and speed/
torque feedforward together.
Name
Model Following Control-Related Selections
Model Following Control Gain
Model Following Control Correction
Model Following Control Bias in the Forward Direction
Model Following Control Bias in the Reverse Direction
Vibration Suppression 1 Frequency A
Vibration Suppression 1 Frequency B
Model Following Control Speed Feedforward Compensation
Vibration Suppression 2 Frequency
Vibration Suppression 2 Correction

8.10.5 Setting Combined Functions

Function
8.10 Vibration Suppression
When Enabled Classification
Immediately Tuning
Automatic Changes
Yes
Yes
No
No
No
Yes
Yes
No
No
No
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