YASKAWA Sigma-7 SGD7S Series - 9.11.6 Setting Combined Functions; 9.11.7 Related Parameters

This concludes the procedure to set up vibration suppression.
9.11.6 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 (VFF), and the
torque feedforward input (TFF) are disabled.
To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model
following control from the host controller in the system, set Pn140 to n.1 (Use
model following control and speed/torque feedforward together).
Parameter Meaning When Enabled Classification
Pn140
n.0
(default
setting)
Do not use model fol-
lowing control and
speed/torque feedfor-
ward 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. There-
fore, model following control is not normally used together with either the
speed feedforward input (VFF) or torque feedforward input (TFF) from the
host controller. However, model following control can be used with the
speed feedforward input (VFF) or torque feedforward input (TFF) if
required. An unsuitable feedforward input may result in overshooting.
9.11.7 Related Parameters
The following parameters are automatically adjusted or used as reference when you exe-
cute vibration suppression.
Do not change the settings while vibration suppression is being executed.
Parameter Name Automatic
Changes
Pn140 Model Following Control-Related Selections Yes
Pn141 Model Following Control Gain Yes
Pn142 Model Following Control Gain 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 Compen-
sation
No
Sigma-7 Series SERVOPACKs
Tuning
Vibration Suppression > Related Parameters
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 379