9 compatible adjustment function, 1 feedforward reference, Mecha – Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-II Communication Reference User Manual
Page 237
5.9 Compatible Adjustment Function
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Adjustm
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5.9 Compatible Adjustment Function
The
Σ-V large-capacity SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to make
machine adjustments.
This section explains compatible functions provided by earlier models, such as the
Σ-II large-capacity SER-
VOPACK.
5.9.1 Feedforward Reference
This function applies feedforward compensation to position control and shortens positioning time.
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.
Pn109
Feedforward Gain
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
0
Immediately
Tuning
Pn10A
Feedforward Filter Time Constant
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 6400
0.01 ms
0
Immediately
Tuning
+
+ +
-
Pn109
Pn10A
Position
reference
Feedback pulse
Position loop gain (Kp)
Feedforward Gain
Differential
Feedforward Filter
Time Constant
MECHA
Position
Position