YASKAWA SGD7S series Product Manual page 61

• Any change to the setting of Pn216 or Pn234 is not applied while the Servomotor is operating.
Changes will be enabled the next time the Servomotor comes to a stop.
• Change the settings while there is no reference pulse input and the Servomotor is stopped.
Important
SERVOPACKs with MECHATROLINK-III Communications
References
There are the following two methods.
• Weakening reference tracking to reduce vibration
• Smoothing references to reduce vibration
 Weakening Reference Tracking to Reduce Vibration
During low-speed feeding, the Servo Parameter Write command (SVPRM_WR: 41 hex) is used
to reduce the settings of the following three parameters.
• Pn196 (Less-Deviation Control 2 Speed Feedforward Gain)
• Pn198 (Less-Deviation Control 2 Forward Torque Feedforward Gain)
• Pn199 (Less-Deviation Control 2 Reverse Torque Feedforward Gain)
By reducing the settings of Pn196, Pn198, and Pn199, reference tracking is weakened to
reduce vibration.
Before Changing Settings ： Pn196 = 1000 (100%)
Position
reference
speed
Feedback
speed
Torque
reference
0 6000 12000 18000
Time (ms)
 Smoothing References to Reduce Vibration
During low-speed feeding, the Servo Parameter Write command (SVPRM_WR: 41 hex) is used
to increase the settings of the following two parameters.
• Pn811 (Exponential Acceleration/Deceleration Time Constant)
• Pn812 (Movement Average Time)
By increasing the settings of Pn811 and Pn812, the reference is smoothed to reduce vibration.
reference
Feedback
Vibration
in torque
and
speed
reference
24000 30000
3.3 Adjusting Less-Deviation Control 2
3.3.5 Settings for Low-speed Feeding
After Changing Settings ： Pn196 = 0 (0%)
Position
speed
speed
Torque
0 6000 12000 18000 24000 30000
Time (ms)
There is no
vibration in
the torque
or speed.
3
3-11