5 Adjustments5.9.1 Feedforward Reference5-625.9 Compatible Adjustment FunctionThe Σ-V large-capacity SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to makemachine adjustments.This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER-VOPACK.5.9.1 Feedforward ReferenceThis 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.Pn109Feedforward Gain ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 100 1% 0 Immediately TuningPn10AFeedforward Filter Time Constant ClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 6400 0.01 ms 0 Immediately Tuning+ + +-Pn109 Pn10APositionreferenceFeedback pulsePosition loop gain (Kp)Feedforward GainDifferential Feedforward FilterTime ConstantMECHAPositionPosition
