Compatible Adjustment Functions - YASKAWA E-7S SERVOPACK SGD7S Product Manual

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.
Input
Input pattern
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
speed
8-84
Speed Speed pattern
Input Movement
Signals reference
Time Time
Program table
Feedforward
Setting Range Setting Unit
0 to 100
Feedforward Filter Time Constant
Setting Range Setting Unit
0 to 6,400
Without Mode Switching
Overshooting
Actual Servomotor
operation
Reference
Overshooting
Settling time
Pn109
Differential Feedforward
+
Position loop gain (Kp)
-
Feedback pulses
Default Setting
1% 0
Default Setting
0.01 ms 0
Motor
speed
Time
Pn10A
Feedforward Filter
Time Constant
+ +
When Enabled Classification
Immediately
When Enabled Classification
Immediately
With Mode Switching
Settling time
Tuning
Tuning
Time