YASKAWA E-V Series User Manual page 210

(8) Feedforward
If tuning is performed at mode 2 or mode 3, the feedforward reference (Pn109), speed feedforward (V-REF)
input, and force feedforward (T-REF) input will be ignored because model following control will be enabled.
The following settings are required if model following control is used together with the speed feedforward (V-
REF) input and force feedforward (T-REF) input.
Parameter
n.0
Pn140
n.1
Refer to 6.8.2 Force Feedforward and 6.8.3 Speed Feedforward for details.
Model following control is not used together
with external speed/force feedforward input.
[Factory setting]
Model following control is used together with
external speed/force feedforward input.
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedfor-
ward (V-REF) input or force feedforward (T-REF) input. An improper speed feedfor-
ward (V-REF) input or force feedforward (T-REF) input may result in overshooting.
6.4 Advanced Autotuning by Reference (Fn202)
Function When Enabled Classification
Immediately Tuning
6
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