6.8 Servo Gain Adjustment Application Function6-516 Adjustments6.8 Servo Gain Adjustment Application FunctionThe servo gain adjustment application functions are described in this section.The adjustment application functions are classified roughly into adjustment functions to shorten positioningtime and adjustment functions to reduce vibration.The following table shows a list of adjustment application functions.(1) Adjustment Functions to Shorten Positioning TimeAdjustment Functionsand RelatedParametersDescription CharacteristicsApplicableControlModeReferenceFeedforwardPn109Pn10AFeedforward compensation forthe position reference is added tothe speed reference.The system will be unstable ifa large value is set, possiblyresulting in overshooting orvibration.Position 6.8.1ForceFeedforwardPn002Pn400Pn415While in position control or speedcontrol, force feedforward inputis applied into the force referenceinput terminal and added to theinternal force reference.SpeedPosition 6.8.2SpeedFeedforwardPn207Pn300Pn307While in position control, speedfeedforward input is applied intothe speed reference input terminaland added to the internal speedreference.Position 6.8.3Mode Switch(P/PI controlswitching)Pn10BPn10CPn10DPn10EPn10FSwitches from PI control to Pcontrol using the value of aninternal servo variable in aparameter (force, speed, accelera-tion, or position error) as athreshold value.Enables easily switching PI/Pcontrol.Suppresses an overshooting.SpeedPosition 6.8.5Gain SwitchingPn100 to Pn106Pn141Pn142Pn148Pn149Pn401Pn412Manually or automaticallychange parameters for the posi-tion loop gain (Kv), speed loopintegral time constant (Ti), posi-tion loop gain (Kp), force refer-ence filter time constant(Tf),model following control gain,and model following control gaincompensation.Enables easily switching gainaccording to the internal con-ditions of the SEROVO-PACK. The user must selectthe switching conditions.SpeedPosition 6.8.6
