8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
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8.13.2
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.
Mode Switching (Changing between Proportional and PI
Control)
You can use mode switching to automatically change between proportional control and PI con-
trol.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time
can be reduced by setting the switching condition and switching levels.
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
Without Mode Switching With Mode Switching
Motor
speed
Overshooting
Actual Servomotor
operation
Reference
Time
Settling time
Overshooting
Motor
speed
Settling time
Time
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