Model Following Control Bias in the Forward Direction
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn143 0 to 10,000 0.1% 1,000 Immediately Tuning
(applies to Position Control)
Model Following Control Bias in the Reverse Direction
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn144 0 to 10,000 0.1% 1,000 Immediately Tuning
(applies to Position Control)
n 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 over-
shooting will be less likely to occur.
Model Following Control Speed Feedforward Compensation
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn147 0 to 10,000 0.1% 1,000 Immediately Tuning
(applies to Position Control)
n Model Following Control Type Selection
When you enable model following control, you can select the model following control
type. Normally, set Pn14F to n.1 (Use model following control type 2) (default
setting). If compatibility with previous models is required, set Pn14F to n.0 (Use
model following control type 1).
Parameter Function When Enabled Classification
Pn14F
n.0
Use model following
control type 1.
After restart Tuning
n.1
After
restart
Tuning
(default
setting)
Use model following
control type 2.
9.14.3 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.
Sigma-7 Series SERVOPACKs
Tuning
Manual Tuning > Compatible Adjustment Functions
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 419
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