YASKAWA E-7S SERVOPACK SGD7S Product Manual page 349

8.13 Manual Tuning
8.13.1 Tuning the Servo Gains
 Related Parameters
Next we will describe the following parameters that are used for model following control.
• Pn140 (Model Following Control-Related Selections)
• Pn141 (Model Following Control Gain)
• Pn143 (Model Following Control Bias in the Forward Direction)
• Pn144 (Model Following Control Bias in the Reverse Direction)
• Pn147 (Model Following Control Speed Feedforward Compensation)
 Model Following Control-Related Selections
Set Pn140 = n.X to specify whether to use model following control.
If you use model following control with vibration suppression, set Pn140 to n.1 or Pn140
= n.2. When you also perform vibration suppression, adjust vibration suppression with
custom tuning in advance.
Note: If you use vibration suppression (Pn140 = n.1 or Pn140 = n.2), always set Pn140 to n.1
(Use model following control).
Pn140

Model Following Control Gain
The model following control gain determines the response characteristic of the servo system. If
you increase the setting of the model following control gain, the response characteristic will
improve and the positioning time will be shortened. The response characteristic of the servo
system is determined by this parameter, and not by Pn102 (Position Loop Gain).
Pn141
Information
8-82
Parameter

n. 0
Do not use model following control.
(default setting)

1 Use model following control.
n.
 
n. 0
Do not perform vibration suppression.
(default setting)
Perform vibration suppression for a specific
 
n. 1
frequency.
Perform vibration suppression for two specific
 
n. 2
frequencies.
Model Following Control Gain
Setting Range Setting Unit
10 to 20,000
For machines for which a high model following control gain cannot be set, the size of the
position deviation in model following control will be determined by the setting of the model
following control gain. For a machine with low rigidity, in which a high model following control
gain cannot be set, position deviation overflow alarms may occur during high-speed opera-
tion. If that is the case, you can increase the setting of the following parameter to increase
the level for alarm detection.
Use the following conditional expression for reference in determining the setting.
Maximum feed speed [reference units/s]
Pn 520 ≥
Pn
Position Deviation Overflow Alarm Level
Setting Range
Pn520
1 to
1,073,741,823
Function
Default Setting
0.1/s 500

2.0
141/10 [1/s]
Setting Unit Default Setting When Enabled Classification
1 reference
unit
When Enabled
Immediately
When Enabled
Immediately
5,242,880 Immediately
Classification
Tuning
Classification
Tuning
Setup