YASKAWA SGDV series User Manual

5 Adjustments
5.9.1 Feedforward Reference
5-62
5.9 Compatible Adjustment Function
The Σ-V large-capacity SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to make
machine adjustments.
This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER-
VOPACK.
5.9.1 Feedforward Reference
This function applies feedforward compensation to position control and shortens positioning time.
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.
Pn109
Feedforward Gain
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 0 Immediately Tuning
Pn10A
Feedforward Filter Time Constant
Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 6400 0.01 ms 0 Immediately Tuning
+
+
+
-
Pn109
Pn10A
Position
reference
Feedback pulse
Position loop gain (Kp)
Feedforward Gain
Differential
Feedforward Filter
Time Constant
MECHA
Position
Position

YASKAWA SGDV series Specifications

General

Series	SGDV
Communication	MECHATROLINK-II, MECHATROLINK-III, EtherCAT
Control Modes	Position, Speed, Torque
Protection Features	Overcurrent, Overvoltage, Undervoltage, Encoder error
Ambient Temperature	0°C to 55°C
Cooling Method	Natural cooling or forced air cooling
Voltage	200V, 400V
Weight	Varies depending on model (e.g., 0.6 kg to 10 kg)