YASKAWA SGMJV User Manual page 236

6 Adjustments
6.5.2 One-parameter Tuning Procedure
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward reference
(Pn109), speed feedforward (V-REF) input, and torque feedforward (T-REF) input will become unavailable.
Set Pn140.3 (4th digit of Pn140) to 1 if model following control is used together with one or both of the fol-
lowing inputs:
• Speed feedforward (V-REF) input
• Torque feedforward (T-REF) input
Pn140
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-42
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
Parameter
Model following control is not used together with
n.0 speed/torque feedforward input.
[Factory setting]
Model following control is used together with speed/
n.1
torque feedforward input.
Function When Enabled Classification
Immediately Tuning