YASKAWA E-V-MD Series User Manual page 191

8 Adjustments
8.5.2 One-parameter Tuning Procedure
 Feedforward
If Model Following Control Related Switch (Pn140) is set to the factory setting and the tuning mode is set to 2
or 3 when custom tuning is executed, the feedforward gain (PnAC8), 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.
Pn140
Refer to the
No.: SIEP S800001 03) for information on the speed feedforward (VFF) input and torque feedforward (TFF)
input.
8-58
Parameter
n.0
Model following control is not used together with
the speed/torque feedforward input.
[Factory setting]
Model following control is used together with the
n.1
speed/torque feedforward input.
Σ
-V-MD Series User's Manual MECHATROLINK-III Standard Servo Profile Commands (Manual
• 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 When Enabled Classification
Immediately Tuning