Feedforward Reference; Using The Mode Switch (P/Pi Switching) - YASKAWA E-V Series User Manual

5 Adjustments

5.8.1 Feedforward Reference

5.8.1 Feedforward Reference

Applies feedforward control compensation in position control inside the
positioning time.
Position
reference
Feedforward Gain
Pn109
Feedforward Filter Time Constant
Pn10A
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.

5.8.2 Using the Mode Switch (P/PI Switching)

Use the mode switch (P/PI switching) function in the following cases:
P Control: Proportional control
PI Control: Proportional/integral control
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)
The mode switch function automatically switches the speed control mode between PI control mode and P con-
trol mode based on a comparison between the servo's internal value and a user-set detection level shown in (1)
Other Adjustment Functions.
<Notes>
• Monitoring the speed response waveform and position error waveform is required for adjustment.
• If I-P control is selected for speed loop control, the mode switching function will be disabled.
5-50
Differ-
Pn109 Pn10A
ential
+
Position loop
gain Kp
-
Encoder feedback pulse
Setting Range Setting Unit
0 to 100
Setting Range Setting Unit
0 to 6400
Speed
+ +
Factory Setting
1%
Factory Setting
0.01 ms
Overshoot
Actual servomotor operation
Reference
Undershoot
Settling time
SERVOPACK
. Use this parameter to shorten
Position
When Enabled
0 Immediately
Position
When Enabled
0 Immediately
Time
Classification
Tuning
Classification
Tuning