Tuning-Less Function - YASKAWA Σ-V Series User Manual

5 Adjustments

5.2.1 Tuning-less Function

5.2

Tuning-less Function

The tuning-less function is enabled in the factory setting. Do not disable this function for normal applications.
If resonance is generated or excessive vibration occurs during position control, refer to 5.2.2 Tuning-less Lev-
els Setting (Fn200) Procedure and reduce the set value of Pn170.2 for the tuning-less adjustment level and the
set value in Pn170.3 for the tuning-less load level.
• The tuning-less function is enabled in the factory setting. A sound may be heard for a moment when the
linear servomotor power is turned ON for the first time after the servo drive is mounted to the machine.
This sound does not indicate any problems; it means that the automatic notch filter was set. The sound will
not be heard from the next time the linear servomotor power is turned ON. For details on the automatic
notch filter, refer to (3) Automatically Setting the Notch Filter on the next page.
• The linear servomotor may vibrate if the mass ratio exceeds 30.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.
5.2.1 Tuning-less Function
The tuning-less function obtains a stable response without adjustment regardless of the type of machine or
changes in the load.
(1) Enabling/Disabling Tuning-less Function
The following parameter is used to enable or disable the tuning-less function.
Pn170
(2) Application Restrictions
The tuning-less function can be used in position control or speed control. This function is not available in
force control.
However, set Pn170.1 = 1 when implementing a position loop in the host controller while the SERVOPACK is
used as a speed control.
The following application restrictions apply to the tuning-less function.
Vibration detection level initialization
(Fn01B)
Advanced autotuning (Fn201)
Advanced autotuning by reference (Fn202)
One-parameter tuning (Fn203)
Anti-resonance control adjustment
function (Fn204)
Vibration suppression function (Fn205)
EasyFFT (Fn206)
Friction compensation
Gain switching
Offline Mass Setting *
5-10
Parameter
n. 0 Disables tuning-less function.
n. 1 Enables tuning-less function. [Factory setting]
n. 0 Used as speed control. [Factory setting]
Used as speed control and host controller used as
n. 1
position control.
Control Function
CAUTION
Meaning
Availability
Available
• This function can be used when the mass is
calculated.
Available
• While this function is being used, the tun-
(Some conditions apply)
ing-less function cannot be used tempo-
rarily.
Not available
Not available
Not available
Not available
While this function is being used, the tuning-
Available
less function cannot be used temporarily.
Not available
Not available
Not available
When Enabled Classification
After restart Setup
Remarks