Parameter Function When Enabled Classification
n.1
Perform vibration sup-
pression for a specific
frequency.
n.2
Perform vibration sup-
pression for two specific
frequencies.
n Model Following Control Gain
The model following control gain determines the response characteristic of the Servo
System. If you increase the setting of the model following control gain, the response
characteristic will improve and the positioning time will be shortened. The response
characteristic of the Servo System is determined by this parameter, and not by Pn102
(Position Loop Gain).
Model Following Control Gain
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn141 10 to 20,000 0.1/s 500 Immediately Tuning
(applies to Position Control)
For machines for which a high model following control gain cannot be set,
the size of the position deviation in model following control will be deter-
mined by the setting of the model following control gain. For a machine
with low rigidity, in which a high model following control gain cannot be
set, position deviation overflow alarms may occur during high-speed
operation. If that is the case, you can increase the setting of the following
parameter to increase the level for alarm detection.
Use the following conditional expression for reference in determining the
setting.
2.0
141/10 [1/s]
520 ≥
´
Pn
Pn
Maximum feed speed [reference units/s]
Fig. 305: Pn520 (Position Deviation Overflow Alarm Level) setting (Model Following Con-
trol)
Position Deviation Overflow Alarm Level
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn520 1 to
1,073,741,82
3
1 reference
unit
5,242,880 Immediately Setup
(applies to Position Control)
n Model Following Control Bias in the Forward Direction and Model Following Control
Bias in the Reverse Direction
If the response is different for forward and reverse operation, use the following
parameters for fine-tuning.
If you decrease the settings, the response characteristic will be lowered but over-
shooting will be less likely to occur.
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Tuning the Servo Gains
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 418
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