YASKAWA E-V-MD Series User Manual

8 Adjustments
8.5.2 One-parameter Tuning Procedure
8-58
 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.
Refer to the
Σ -V-MD Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual
No.: SIEP S800001 03) for information on the speed feedforward (VFF) input and torque feedforward (TFF)
input.
Parameter Function When Enabled Classification
Pn140
n.0
[Factory setting]
Model following control is not used together with
the speed/torque feedforward input.
Immediately Tuning
n.1
Model following control is used together with the
speed/torque feedforward input.
• 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.

YASKAWA E-V-MD Series Specifications

General

Brand	YASKAWA
Model	E-V-MD Series
Category	Servo Drives
Language	English