Yaskawa Sigma II Series Servo System - Manual (Page 244)

Sigma II User’s Manual Chapter 6: Servo Adjustment
6 - 12
6.2.2 Using Feed-Forward Control
The time required for positioning can be shortened with feed-forward control by
setting the following parameter.
Definition:Feed-forward control makes necessary corrections beforehand to prevent the control system
from receiving the effects of external disturbance. By increasing the effective servo gain, feed-for-
ward control improves the system’s response.
Parameter Pn109 is set to apply feed-forward frequency compensation to position
control inside the servo amplifier. Use it to shorten positioning time. Too high a
value may cause machine vibration. For most applications, set Pn109 to 80% or
less.
Parameter Signal
Setting
(%)
Application
Pn109 Feed-forward
Setting Range: 0 to 100
Default Setting: 0
Position Control
Reference pulse
Pn109
Differential
Feedback pulse