Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 295)

9 Appendix
9.1.2 Parameters
9-10
Pn140
Model Following Control Related
Switch
0000 to 1121 − 0100 Immediately Tuning −
Pn141 Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn142
Model Following Control Gain Com-
pensation
500 to 2000 0.1% 1000 Immediately Tuning −
Pn143
Model Following Control Bias
(Forward Direction)
0 to 10000 0.1% 1000 Immediately Tuning −
Pn144
Model Following Control Bias
(Reverse Direction)
0 to 10000 0.1% 1000 Immediately Tuning −
Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0.1 Hz 500 Immediately Tuning −
Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0.1 Hz 700 Immediately Tuning −
Pn147
Model Following Control Speed
Feedforward Compensation
0 to 10000 0.1% 1000 Immediately Tuning −
Pn148 2nd Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Pn149
2nd Model Following Control Gain
Compensation
500 to 2000 0.1% 1000 Immediately Tuning −
Pn14A Vibration Suppression 2 Frequency 10 to 2000 0.1 Hz 800 Immediately Tuning −
Pn14B
Vibration Suppression 2 Compensa-
tion
10 to 1000 1% 100 Immediately Tuning −
Pn14F Reserved (Do not change.) － － 0011 － － –
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification Reference
Section
0
1
Does not use model following control.
Uses model following control.
Model Following Control Selection
4th
digit 3rd
digit 2nd
digit 1st
digit
n.
0
1
2
Does not perform vibration suppression.
Performs vibration suppression over the specified frequency.
Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Selection
0
1
Does not use model following control together with speed/force feedforward together.
Uses model following control together with speed/force feedforward together.
Selection of Speed Feedforward (VFF) / Force Feedforward (TFF)
0
1
Does not adjust vibration suppression automatically using utility function.
Adjusts vibration suppression automatically using utility function.
Vibration Suppression Adjustment Selection (Refer to 5.3.1, 5.4.1, 5.5.1, 5.7.1)
(Refer to 5.3.1, 5.4.1)