5 Adjustments5.7.3 Related Parameters5-565.7.3 Related ParametersThe following table lists parameters related to this function and their possibility of being changed while exe-cuting this function or of being changed automatically after executing this function.• Parameters related to this functionThese are parameters that are used or referenced when executing this function.• Allowed changes during execution of this functionYes: Parameters can be changed using SigmaWin+ while this function is being executed.No: Parameters cannot be changed using SigmaWin+ while this function is being executed.• Automatic changes after execution of this functionYes: Parameter set values are automatically set or adjusted after execution of this function.No: Parameter set values are not automatically set or adjusted after execution of this function.Model following control is used to make optimum feedforward settings in the SERVO-PACK when model following control is used with the feedforward function. Therefore,model following control is not normally used together with either the speed feedforward(VFF) input or torque feedforward (TFF) input from the host controller. However, modelfollowing control can be used with the speed feedforward (VFF) input or torque feedfor-ward (TFF) input if required. An improper feedforward input may result in overshooting.Parameter Name Mid-executionchangesAutomaticchangesPn140 Model Following Control Related Switch Yes YesPn141 Model Following Control Gain No YesPn142 Model Following Control Gain Compensation No NoPn143 Model Following Control Bias (Forward Direction) No NoPn144 Model Following Control Bias (Reverse Direction) No NoPn145 Vibration Suppression 1 Frequency A No YesPn146 Vibration Suppression 1 Frequency B No YesPn147 Model Following Control Speed Feedforward Compen-sation No NoPn14A Vibration Suppression 2 Frequency No NoPn14B Vibration Suppression 2 Compensation No No
