YASKAWA E-S Series Product Manual

Contents

8.8 Manual Tuning8.8.1 Tuning the Servo Gains8-40 Model Following Control GainThe model following control gain determines the response characteristic of the servo system. Ifyou increase the setting of the model following control gain, the response characteristic willimprove and the positioning time will be shortened. The response characteristic of the servosystem is determined by this parameter, and not by Pn102 (Position Loop Gain). Model Following Control Bias in the Forward Direction and Model Following Control Bias inthe Reverse DirectionIf the response is different for forward and reverse operation, use the following parameters forfine-tuning.If you decrease the settings, the response characteristic will be lowered but overshooting willbe less likely to occur. Model Following Control Speed Feedforward CompensationIf overshooting occurs even after you adjust the model following control gain, model followingcontrol bias in the forward direction, and model following control bias in the reverse direction,you may be able to improve performance by setting the following parameter.If you decrease the settings, the response characteristic will be lowered but overshooting willbe less likely to occur.Pn141Model Following Control GainSetting Range Setting Unit Default Setting When Enabled Classification10 to 20,000 0.1/s 500 Immediately TuningFor machines for which a high model following control gain cannot be set, the sizeof the position deviation in model following control will be determined by the set-ting of the model following control gain. For a machine with low rigidity, in which ahigh model following control gain cannot be set, position deviation overflowalarms may occur during high-speed operation. If that is the case, you canincrease the setting of the following parameter to increase the level for alarmdetection.Use the following conditional expression for reference in determining the setting.Pn143Model Following Control Bias in the Forward DirectionSetting Range Setting Unit Default Setting When Enabled Classification0 to 10,000 0.1% 1,000 Immediately TuningPn144Model Following Control Bias in the Reverse DirectionSetting Range Setting Unit Default Setting When Enabled Classification0 to 10,000 0.1% 1,000 Immediately TuningPn147Model Following Control Speed Feedforward CompensationSetting Range Setting Unit Default Setting When Enabled Classification0 to 10,000 0.1% 1,000 Immediately TuningInformation2.0141/10 [1/s]520 ≥ PnPn Maximum feed speed [reference units/s]Pn520Position Deviation Overflow Alarm LevelSetting Range Setting Unit Default Setting When Enabled Classification1 to1,073,741,8231 referenceunit 25,600 Immediately Setup