6 Adjustments6.9.1 Feedforward Reference6-646.9 Compatible Adjustment FunctionThe Σ-V series SERVOPACKs have adjustment functions as explained in sections 6.1 to 6.8 to make machineadjustments. This section explains compatible functions provided by earlier models, such as the Σ-III SERVO-PACK.6.9.1 Feedforward ReferenceApplies feedforward control compensation in position control inside the SERVOPACK . Use this parameter to shortenpositioning 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 TuningPositionreference pulseEncoder feedback pulse+ + +-Position loopgain㧔Kp㧕Pn109Feedforward GainPn10ADiffer-entialFeedforward FilterTime ConstantPositionPosition
