YASKAWA E-7-Series SGD7S - Compatible Adjustment Functions

8.12 Manual Tuning
8.12.2 Compatible Adjustment Functions
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Tuning
 Model Following Control Type Selection
When you enable model following control, you can select the model following control type. Nor-
mally, set Pn14F to n.1 (Use model following control type 2) (default setting). If compati-
bility with previous models is required, set Pn14F to n.0 (Use model following control type
1).
8.12.2 Compatible Adjustment Functions
The compatible adjustment functions are used together with manual tuning. You can use these
functions to improve adjustment results. These functions allow you to use the same functions
as for Σ-III-Series SERVOPACKs to adjust Σ-7-Series SERVOPACKs.
Feedforward
The feedforward function applies feedforward compensation to position control to shorten the
positioning time.
Note: If you set the feedforward value too high, the machine may vibrate. As a guideline, use a setting of 80% or
less.
Torque Feedforward and Speed Feedforward
You can use the torque feedforward and speed feedforward functions to help shorten the posi-
tioning time. The reference is created from the differential of the position reference at the host
controller.
Torque feedforward:This is effective for speed control or position control. It is sent from the
host controller along with the speed reference. Connect the speed refer-
ence from the host controller to the V-REF (CN1-5 and CN1-6) signal and
the torque feedforward reference from the host controller to the T-REF
(CN1- 9 and CN1-10) signal.
Speed feedforward:This is effective only for position control. It is sent to the SERVOPACK from
the host controller along with the position reference. Connect the position
reference from the host controller to the PULS and SIGN (CN1-7,CN1 -8,
CN1-11, and CN1-12) signals and the speed feedforward reference from
the host controller to the V-REF (CN1-5 and CN1-6) signal.
Pn147
Model Following Control Speed Feedforward Compensation
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 10,000 0.1% 1,000 Immediately Tuning
Parameter Meaning When Enabled Classification
Pn14F
n.0 Use model following control type 1.
After restart Tuningn.0
Use model following control type 2.
(default setting)
Position
Pn109
Feedforward
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 100 1% 0 Immediately Tuning
Pn10A
Feedforward Filter Time Constant
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 6,400 0.01 ms 0 Immediately Tuning
+
+
+

Pn109
Pn10A
Position reference pulses
Feedback pulses
Position loop gain (Kp)
Feedforward Filter
Time Constant
FeedforwardDifferential
Position
Position