Yaskawa Sigma II Series DC Power Input SGMAJ - Manual (Page 265)

9 Adjustments
9.4.1 Feed-forward Reference
9-14
9.4 Servo Gain Adjustment Functions
9.4.1 Feed-forward Reference
Pn109 Feed-forward
Setting Range Setting Unit Factory Setting Setting Validation
0 to 100 % 0 Immediately
Pn10A Feed-forward Filter Time Constant
Setting Range Setting Unit Factory Setting Setting Validation
0 to 6,400
(0.00 to 64.00 ms)
0.01ms 0 Immediately
Applies feed-forward compensation in position control inside
the
SERVOPACK . Use this parameter to shorten positioning
time. Too high value may cause the machine to vibrate. For
ordinary machines, set 80% or less in this parameter.
Position
Position
Position
reference pulse
Encoder feedback pulse
+ + +
-
Position loop
gain Kp
Pn109 Pn10A Differ-
ential