Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 222)

5.9 Compatible Adjustment Function
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5.9 Compatible Adjustment Function
The Σ-V series 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-III Series SERVOPACK.
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