Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 340)

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