Compatible Adjustment Functions - YASKAWA SGD7S series Product Manual

8.13 Manual Tuning

8.13.2 Compatible Adjustment Functions

Pn143
Pn144

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.
Pn147

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).
Pn14F

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.
Po ition reference pul e
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.
8-86
Model Following Control Bias in the Forward Direction
Setting Range Setting Unit
0 to 10,000
Model Following Control Bias in the Reverse Direction
Setting Range Setting Unit
0 to 10,000
Model Following Control Speed Feedforward Compensation
Setting Range Setting Unit
0 to 10,000
Parameter

n. 0 Use model following control type 1.

n. 1
Use model following control type 2.
(default setting)
Differential
+

Feedback pul e
Feedforward
Setting Range
0 to 100
Feedforward Filter Time Constant
Setting Range
0 to 6,400
Default Setting
0.1% 1,000
Default Setting
0.1% 1,000
Default Setting
0.1% 1,000
Meaning
Pn10A
Pn109
Feedforward Filter
Feedforward
Time Con tant
Po ition loop gain (Kp)
Setting Unit Default Setting
1%
Setting Unit Default Setting
0.01 ms
Position
When Enabled
Immediately
Position
When Enabled
Immediately
Position
When Enabled
Immediately
When Enabled
After restart
+
+
When Enabled
0 Immediately
When Enabled
0 Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Position
Classification
Tuning
Position
Classification
Tuning