8.6 Autotuning without Host Reference
8.6.7 Related Parameters
8-33
Feedforward
If Pn140 is set to n.0 (Do not use model following control and speed/torque feedforward
together (default setting)) and tuning is performed with the mode selection set to 2 or 3, feed-
forward (Pn109), the speed feedforward input (V-REF), and the torque feedforward input (T-
REF) will be disabled.
To use the speed feedforward input (V-REF), the torque feedforward input (T-REF), and model
following control from the host controller in the system, set Pn140 to n.1 (Use model fol-
lowing control and speed/torque feedforward together).
Refer to the following section for information on the torque feedforward input (T-REF) and the
speed feedforward input (V-REF).
Torque Feedforward and Speed Feedforward on page 8-77,
Speed Feedforward on page 8-79
8.6.7
Related Parameters
The following parameters are automatically adjusted or used as reference when you execute
autotuning without a host reference.
Do not change the settings while autotuning without a host reference is being executed.
Parameter Function When Enabled Classification
Pn140
n.0
(default setting)
Do not use model following control and
speed/torque feedforward together.
Immediately Tuning
n.1
Use model following control and speed/torque
feedforward together.
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (V-REF) or torque feedforward input (T-REF) from
the host controller. However, model following control can be used with the speed feedforward
input (V-REF) or torque feedforward input (T-REF) if required. An unsuitable feedforward input
may result in overshooting.
Parameter Name Automatic Changes
Pn100 Speed Loop Gain Yes
Pn101 Speed Loop Integral Time Constant Yes
Pn102 Position Loop Gain Yes
Pn103 Moment of Inertia Ratio Yes
Pn121 Friction Compensation Gain Yes
Pn123 Friction Compensation Coefficient Yes
Pn124 Friction Compensation Frequency Correction No
Pn125 Friction Compensation Gain Correction Yes
Pn401 First Stage First Torque Reference Filter Time Constant Yes
Pn408 Torque-Related Function Selections Yes
Pn409 First Stage Notch Filter Frequency Yes
Pn40A First Stage Notch Filter Q Value Yes
Pn40C Second Stage Notch Filter Frequency Yes
Pn40D Second Stage Notch Filter Q Value Yes
Pn140 Model Following Control-Related Selections Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Gain Correction Yes
Pn143 Model Following Control Bias in the Forward Direction Yes
Pn144 Model Following Control Bias in the Reverse Direction Yes
Pn145 Vibration Suppression 1 Frequency A Yes
Pn146 Vibration Suppression 1 Frequency B Yes
To Next Page
Loading...
