YASKAWA SGD7S series Product Manual page 223

Parameter
Name
No.
Model Following Con-
2
trol-Related Selections

n. X Reserved parameter (Do not change.)
Vibration Suppression Selection
 
n. X
Pn140
 
n. X Reserved parameter (Do not change.)
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection

n.X
Model Following Con-
Pn141 2
trol Gain
Model Following Con-
Pn142 2
trol Gain Correction
Model Following Con-
Pn143 2 trol Bias in the Forward
Direction
Model Following Con-
Pn144 2 trol Bias in the Reverse
Direction
Vibration Suppression 1
Pn145 2
Frequency A
Vibration Suppression 1
Pn146 2
Frequency B
Model Following Con-
Pn147 2 trol Speed Feedforward
Compensation
Vibration Suppression 2
Pn14A 2
Frequency
Vibration Suppression 2
Pn14B 2
Correction
Control-Related Selec-
2
tions
Model Following Control Type Selection

n. X
Pn14F
 
n. X Reserved parameter (Do not change.)
 
n. X Reserved parameter (Do not change.)

n.X Reserved parameter (Do not change.)
Setting Setting
Range Unit
0000 to
–
1120
0 Do not perform vibration suppression.
1 Perform vibration suppression for a specific frequency.
2 Perform vibration suppression for two specific frequencies.
Do not use model following control and speed/torque feedfor-
0
ward together.
Use model following control and speed/torque feedforward
1
together.
10 to 20,000 0.1/s
500 to 2,000 0.1%
0 to 10,000 0.1%
0 to 10,000 0.1%
10 to 2,500 0.1 Hz
10 to 2,500 0.1 Hz
0 to 10,000 0.1%
10 to 2,000 0.1 Hz
10 to 1,000 1%
0000 to
–
0021
0 Use model following control type 1.
1 Use model following control type 2.
10.1 List of Servo Parameters
10.1.2 List of Servo Parameters
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
0000 All
ately
Immedi-
500 All
ately
Immedi-
1000 All
ately
Immedi-
1000 All
ately
Immedi-
1000 All
ately
Immedi-
500 All
ately
Immedi-
700 All
ately
Immedi-
1000 All
ately
Immedi-
800 All
ately
Immedi-
100 All
ately
After
0021 All
restart
Continued on next page.
Classi- Refer-
fication ence
Tuning –
Reference
*1
Reference
page 5-25
*1
Tuning
*1
Tuning
*1
Tuning
*1
Tuning
page
Tuning
5-50
page
Tuning
5-50
*1
Tuning
page
Tuning
5-50
page
Tuning
5-50
Tuning –
Reference
*1
10
10-13