Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 174)

5.5 One-parameter Tuning (Fn203)
5-37
Adjustments
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109)
(refer to 5.9.1) will be lost.
The following settings are required if model following control is used from the host controller (through the
command option module) together with speed feedforward input or torque feedforward input.
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control from the host controller is not used together with
either the speed feedforward input or torque feedforward input. An improper speed
feedforward input or torque feedforward input may result in overshooting.
Parameter Function When Enabled Classification
Pn140
n.0
Model following control is not used together with
speed/torque feedforward input.
[Factory setting]
Immediately Tuning
n.1
Model following control is used together with speed/
torque feedforward input.