YASKAWA SGD7S series Product Manual page 94

Parameter

n. 0
(default setting)
Pn408

n. 1
*
Refer to the following manual for details.
Σ Σ
-7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP
S800001 28)
 Feedforward
If Pn140 is set to n.0 (Do not use model following control and speed/torque feedforward
together (default setting)) and tuning is performed with the mode selection set to 2 or 3, feed-
forward (Pn109), the speed feedforward input (VFF), and the torque feedforward input (TFF) will
be 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.
Function
Disable friction compensation.
Enable friction compensation.
Function
Do not use model following control and
speed/torque feedforward together.
Use model following control and speed/torque
feedforward together.
5.5 Autotuning without Host Reference
5.5.6 Automatically Adjusted Function Settings
When Enabled
Immediately
When Enabled
Immediately
Classification
Setup
Classification
Tuning
5
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