YASKAWA SGD7S series Product Manual page 424

 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).
Parameter

n. 0
(default setting)

n. 1
 
n. 0
Pn140
(default setting)
 
n. 1
 
n. 2

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).
Model Following Control Gain
Pn141 Setting Range
10 to 20,000
For machines for which a high model following control gain cannot be set, the size of the
Information
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 peed [reference unit / ]
Pn 520 ≥
Position Deviation Overflow Alarm Level
Setting Range
Pn520
1,073,741,823

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.
Function
Do not use model following control.
Use model following control.
Do not perform vibration suppression.
Perform vibration suppression for a specific
frequency.
Perform vibration suppression for two specific
frequencies.
Setting Unit Default Setting
0.1/s
Pn 141/10 [1/ ]
Setting Unit
1 to 1 reference
unit
8.13.1 Tuning the Servo Gains
When Enabled
Immediately
When Enabled
500 Immediately

2.0
Default Setting When Enabled Classification
5,242,880 Immediately
8.13 Manual Tuning
Classification
Tuning
Position
Classification
Tuning
Position
Setup
8-85
8