YASKAWA E-V Series User Manual page 161

Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain
(Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Parameter
n.0
Model following control is not used together with the
speed/torque feedforward input.
[Factory setting]
Pn140
Model following control is used together with the
n.1
speed/torque feedforward input.
Σ
Refer to -V Series User's Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for
details.
• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.
Function
5.5 One-parameter Tuning (Fn203)
When Enabled Classification
Immediately Tuning
5
5-51