YASKAWA E-S Series Product Manual page 215

 Manual Tuning Procedure
Use the following tuning procedure for using model following control.
Step
Adjust the servo gains. Refer to the following section for an example procedure.
Example Adjustment Procedure on page 8-33
Note: 1. Set the moment of inertia ratio (Pn103) as accurately as possible.
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2. Refer to the guidelines for manually tuning the servo gains and set a stable gain for the position loop gain
(Pn102).
Example Adjustment Procedure on page 8-33
Increase the model following control gain (Pn141) as much as possible within the range in which
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overshooting and vibration do not occur.
If overshooting occurs or if the response is different for forward and reverse operation, fine-tune
model following control with the following settings: model following control bias in the forward direc-
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tion (Pn143), model following control bias in the reverse direction (Pn144), and model following con-
trol speed feedforward compensation (Pn147).
 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
to 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
Description
Function
Do not use model following control.
Use model following control.
Do not perform vibration suppression.
Perform vibration suppression for a specific
frequency.
Reserved setting (Do not use.)
8.8 Manual Tuning
8.8.1 Tuning the Servo Gains
When Enabled Classification
Immediately Tuning
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