YASKAWA E-S Series Product Manual

Contents

8.8 Manual Tuning8.8.2 Feedforward8-418 Tuning8.8.2 FeedforwardThe feedforward function applies feedforward compensation to shorten the positioning time.Note: If you set the feedforward value too high, the machine may vibrate. As a guideline, use a setting of 80% orless.8.8.3 Mode Switching (Changing between Proportional and PIControl)You can use mode switching to automatically change between proportional control and PI con-trol.Overshooting caused by acceleration and deceleration can be suppressed and the settling timecan be reduced by setting the switching condition and switching levels. Related ParametersSelect the switching condition for mode switching with Pn10B = n.X.Pn109FeedforwardSetting Range Setting Unit Default Setting When Enabled Classification0 to 100 1% 0 Immediately TuningPn10AFeedforward Filter Time ConstantSetting Range Setting Unit Default Setting When Enabled Classification0 to 6,400 0.01 ms 0 Immediately TuningFeedback pulses+ + +-Position loop gain (Kp)Pn109 Pn10ADifferential Feedforward Feedforward FilterTime ConstantSpeed Speed patternTimeMovementreferenceProgram tableInputSignalsTimeInput patternInputParameter Mode Switching Selection Parameter ThatSets the LevelWhenEnabled ClassificationPn10Bn.0[default setting]Use the internal torque refer-ence as the condition. Pn10CImmediately Setupn.1 Use the speed reference as thecondition. Pn10Dn.2 Use the acceleration referenceas the condition. Pn10En.3 Use the position deviation asthe condition. Pn10Fn.4 Do not use mode switching. -Without Mode Switching With Mode SwitchingMotorspeed Overshooting Actual ServomotoroperationReferenceTimeSettling timeOvershootingMotorspeedSettling time Time