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8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8.13.2 Compatible Adjustment Functions
The compatible adjustment functions are used together with manual tuning. You can use these
functions to improve adjustment results. These functions allow you to use the same functions
as for Σ-III-Series SERVOPACKs to adjust Σ-7-Series SERVOPACKs.
Feedforward
The feedforward function applies feedforward compensation to position control to shorten the
positioning time.
Pn109
Pn10A
Note: If you set the feedforward value too high, the machine may vibrate. As a guideline, use a setting of 80% or
less.
Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
Motor
peed
8-84
Differential
Po ition reference pul e
+
Feedback pul e
Feedforward
Setting Range
Setting Unit
0 to 100
Feedforward Filter time Constant
Setting Range
Setting Unit
0 to 6,400
Without Mode witching
Over hooting
Actual ervomotor
operation
Reference
Over hooting
ettling time
Pn109
Feedforward
Po ition loop gain (Kp)
-
Default Setting
1%
0
Default Setting
0.01 ms
0
Motor
peed
Time
Pn10A
Feedforward filter
time con tant
+ +
Po ition
When Enabled
Immediately
Po ition
When Enabled
Immediately
With Mode witching
ettling time
Classifica-
tion
Tuning
Classifica-
tion
Tuning
Time
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Troubleshooting
