YASKAWA SGMJV User Manual page 213

• The mode switch is used.
Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the
moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be
enabled after calculating the moment of inertia.
• Speed feedforward or torque feedforward is input.
• The positioning completed width (Pn522) is too small.
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning com-
pleted width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the
same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Overshoot Detection Level
Pn561
Setting Range
0 to 100
(4) Usage Restrictions
With this function, the following restrictions are applied in accordance with the version number of the SER-
VOPACK software version and the encoder resolution being used.
Application Restrictions When Using a 17-bit or 20-bit Encoder
Applicable servomotors : SGM V-
• Application Restrictions by Model Following Control
SGDV SERVOPACK's Software Version *
Model following control type
Application Restrictions
∗
The software version number of your SERVOPACK can be checked with Fn012.
• Parameter Added from SERVOPACK's Software Version 0008 or Later
Parameter
n. 0
Pn14F
n. 1
• Advanced autotuning makes adjustments by referring to the positioning completed
width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation. If the SERVOPACK is operated in speed control
(Pn000.1=0), use the factory settings.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will blink. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will blink for 2 seconds and tuning will be aborted.
Setting Unit
1%
D
SGMPS- C , SGMPS-
SERVOPACK software
Position errors may easily result in
overshooting, so the positioning
time may be extended if the posi-
tioning completed width (Pn522)
is set to a small value.
Function
Model following control type 1
Model following control type 2 [Factory setting]
Speed Position Torque
Factory Setting When Enabled
100 Immediately
, SGM V- 3
2
0007 or earlier
Type 1 Type 1 or Type 2 [Factory setting]
Suppresses overshooting that
results from position errors more
efficiently than SERVOPACK
software 0007 or earlier. If com-
patibility with SERVOPACK soft-
ware 0007 or earlier is required,
select Model Following Control
Type 1 (Pn14F.0 = 0).
When Enabled
After restart
6.3 Advanced Autotuning (Fn201)
Classification
Setup
SERVOPACK software
0008 or later
Classification
Tuning
6
6-19