Compatible Adjustment Function; Feedforward Reference; Using The Mode Switch (P/Pi Switching) - YASKAWA Σ-V Series User Manual

5 Adjustments

5.9.1 Feedforward Reference

5.9

Compatible Adjustment Function

The Σ-V series SERVOPACKs have the adjustment functions explained in sections 5.1 to 5.8 that can be used
to make machine adjustments. This section explains compatible functions provided by earlier models, such as
the Σ-III SERVOPACK.

5.9.1 Feedforward Reference

Applies feedforward control compensation in position control inside the SERVOPACK. Use this parameter to
shorten positioning time.
Position
reference
Pn109
Pn10A
If the Feedforward Gain (Pn109) is set to a value that is too high, the machine may vibrate. The gain setting
should be set to a value less than 80%.

5.9.2 Using the Mode Switch (P/PI Switching)

Use the mode switch (P/PI switching
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress overshooting during positioning and reduce the settling time (for position control)
∗
P Control: Proportional control
PI Control: Proportional/integral control
To enable the mode switch, set Pn10B.0 to 0 to 3. The mode switch changes the speed-control mode to PI
(proportional/integral) control or P (proportional) control.
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.
5-60
Pn109
Pn10A
Feedforward Filter
Feedforward
Differ-
Time Constant
Gain
ential
+
Position loop
gain Kp
-
Feedback pulse
Feedforward Gain
Setting Range Setting Unit
0 to 100
Feedforward Filter Time Constant
Setting Range Setting Unit
0 to 6400
*
) function in the following cases:
Speed
+
Position
Factory Setting
1% 0
Position
Factory Setting
0.01 ms 0
Overshoot
Actual linear servomotor operation
Reference
Overshoot
Settling time
Classification
When Enabled
Immediately
Classification
When Enabled
Immediately
Time
Tuning
Tuning