YASKAWA SGD7S-1R9D Product Manual page 343

Parameter

n. 0
(default setting)

n. 1
 
Pn140
n. 0
(2140
(default setting)
hex)
 
n. 1
 
n. 2

Model Following Control Gain
The model following control gain determines the response characteristic of the Servo System. If
you increase the setting of the model following control gain, the response characteristic will
improve and the positioning time will be shortened. The response characteristic of the Servo
System is determined by this parameter, and not by Pn102 (Position Loop Gain).
Model Following Control Gain
Pn141
(2141 Setting Range
hex)
10 to 20,000
For machines for which a high model following control gain cannot be set, the size
Information
of the position deviation in model following control will be determined by the set-
ting of the model following control gain. For a machine with low rigidity, in which a
high model following control gain cannot be set, position deviation overflow
alarms may occur during high-speed operation. If that is the case, you can
increase the setting of the following parameter to increase the level for alarm
detection.
Use the following conditional expression for reference in determining the setting.
Maximum feed speed [reference units/s]
Pn 520 ≥
Position Deviation Overflow Alarm Level
Pn520
Setting Range
(2520
hex)
1,073,741,823

Model Following Control Bias in the Forward Direction and Model Following Control Bias in
the Reverse Direction
If the response is different for forward and reverse operation, use the following parameters for
fine-tuning.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
Model Following Control Bias in the Forward Direction
Pn143
(2143 Setting Range
hex)
0 to 10,000
Model Following Control Bias in the Reverse Direction
Pn144
(2144 Setting Range
hex)
0 to 10,000
Function
Do not use model following control.
Use model following control.
Do not perform vibration suppression.
Perform vibration suppression for a specific
frequency.
Perform vibration suppression for two specific
frequencies.
Setting Unit Default Setting
0.1/s
Pn 141/10 [1/s]
Setting Unit
1 to 1 reference
unit
Setting Unit Default Setting
0.1%
Setting Unit Default Setting
0.1%
8.13.1 Tuning the Servo Gains
When Enabled
Immediately
When Enabled
500 Immediately

2.0
Default Setting When Enabled Classification
5,242,880 Immediately
When Enabled
1,000 Immediately
When Enabled
1,000 Immediately
8.13 Manual Tuning
Classification
Tuning
Position
Classification
Tuning
Position
Setup
Position
Classification
Tuning
Position
Classification
Tuning
8-85
8