8.13 Manual Tuning
8.13.2 Compatible Adjustment Functions
8-89
Model Following Control Speed Feedforward Compensation
If overshooting occurs even after you adjust the model following control gain, model following
control bias in the forward direction, and model following control bias in the reverse direction,
you may be able to improve performance by setting the following parameter.
If you decrease the settings, the response characteristic will be lowered but overshooting will
be less likely to occur.
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).
8.13.2
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.
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 Tuning
n.1
(default setting)
Use model following control type 2.
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
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