YASKAWA SGM H Series - Servo Gain Adjustment Functions; Feed-Forward Reference

9.4 Servo Gain Adjustment Functions
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9.4 Servo Gain Adjustment Functions
9.4.1 Feed-forward Reference
Pn109
Feed-forward
Setting Range Setting Unit Factory Setting Setting Validation
0 to 100 1% 0 Immediately
Pn10A
Feed-forward Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0 to 6,400
(0.00 to 64.00 ms)
0.01ms
0
(0.00 ms)
Immediately
Applies feed-forward compensation in position control inside
the SERVOPACK. Use this parameter to shorten positioning
time. Too high value may cause the machine to vibrate. For
ordinary machines, set 80% or less in this parameter.
Position
Position
Position
reference pulse
Encoder feedback pulse
+
+
+
-
Position loop
gain Kp
Pn109 Pn10A
Differ-
ential
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