YASKAWA E-7S SERVOPACK SGD7S Product Manual page 350


Model Following Control Bias in the Forward Direction and Model Following Control Bias in
the Reverse Direction
If the response is different for forward and reverse operation, use the following parameters for
fine-tuning.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
Model Following Control Bias in the Forward Direction
Pn143 Setting Range
0 to 10,000
Model Following Control Bias in the Reverse Direction
Pn144
Setting Range
0 to 10,000

Model Following Control Speed Feedforward Compensation
If overshooting occurs even after you adjust the model following control gain, model following
control bias in the forward direction, and model following control bias in the reverse direction,
you may be able to improve performance by setting the following parameter.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
Model Following Control Speed Feedforward Compensation
Pn147 Setting Range
0 to 10,000

Model Following Control Type Selection
When you enable model following control, you can select the model following control type. Nor-
mally, set Pn14F to n.1 (Use model following control type 2) (default setting). If compati-
bility with previous models is required, set Pn14F to n.0 (Use model following control type
1).
Parameter

n. 0
Pn14F 
n. 1
(default setting)
Setting Unit Default Setting
0.1%
Setting Unit Default Setting
0.1%
Setting Unit Default Setting
0.1%
Meaning
Use model following control type 1.
Use model following control type 2.
8.13.1 Tuning the Servo Gains
When Enabled
1,000 Immediately
When Enabled
1,000 Immediately
When Enabled
1,000 Immediately
When Enabled
After restart
8.13 Manual Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
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