Compatible Adjustment Functions - YASKAWA SGD7S Product Manual


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.
Pn14F 
n.
(default setting)
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.
Position reference pulses
Feedforward
Pn109 Setting Range
Feedforward Filter Time Constant
Pn10A Setting Range
Note: If you set the feedforward value too high, the machine may vibrate. As a guideline, use a setting of 80% or
less.
Setting Unit
0.1%
0 Use model following control type 1.
1
Use model following control type 2.
Pn109
Differential Feedforward
+
Position loop gain (Kp)

Feedback pulses
Setting Unit
0 to 100 1%
Setting Unit
0 to 6,400 0.01 ms

8.13.2 Compatible Adjustment Functions

Default Setting
1,000
Meaning
Pn10A
Feedforward Filter
Time Constant
+
Default Setting
0
Default Setting
0
8.13 Manual Tuning
When Enabled Classification
Immediately Tuning
When Enabled Classification
After restart Tuning
+
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning
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