YASKAWA SGD7S

8.10 Vibration Suppression
8.10.5 Setting Combined Functions
8-59
8
Tuning
8.10.5 Setting Combined Functions
You can also use the feedforward function when you execute vibration suppression.
In the default settings, feedforward (Pn109), the speed feedforward input (V-REF), and the
torque feedforward input (T-REF) are 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 8-86,
 Speed Feedforward
on page 8-87
8.10.6 Related Parameters
The following parameters are automatically adjusted or used as reference when you execute
vibration suppression.
Do not change the settings while vibration suppression is being executed.
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
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.
Important
Parameter Name Automatic Changes
Pn140 Model Following Control-Related Selections Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Correction No
Pn143 Model Following Control Bias in the Forward Direction No
Pn144 Model Following Control Bias in the Reverse Direction No
Pn145 Vibration Suppression 1 Frequency A Yes
Pn146 Vibration Suppression 1 Frequency B Yes
Pn147 Model Following Control Speed Feedforward Compensation No
Pn14A Vibration Suppression 2 Frequency No
Pn14B Vibration Suppression 2 Correction No