Parameters Disabled By Tuning-Less Function; Automatically Adjusted Function Setting; Related Parameters - YASKAWA SGD7S-1R9D Product Manual

8.4.4

Parameters Disabled by Tuning-less Function

When the tuning-less function is enabled (Pn170 = n.1) (default setting), the parameters
in the following table are disabled.
Gain-Related Parameters
Advanced Control-Related
Parameters
Gain Selection-Related Parameters
The tuning-less function is disabled during torque control, Easy FFT, and mechanical analysis
for a vertical axis. The gain-related parameters in the above table are enabled for torque con-
trol, Easy FFT, and mechanical analysis. Of these, Pn100, Pn103, and Pn104 are enabled for
torque control.
8.4.5

Automatically Adjusted Function Setting

You can also automatically adjust notch filters.
Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration is automati-
cally detected and a notch filter is set.
Set Pn460 to n.0 (Do not adjust automatically) only if you do not change the setting of
the notch filter before you execute the tuning-less function.
Parameter

n. 0
Pn460
(2460
hex)

n. 1
(default setting)
8.4.6

Related Parameters

The following parameters are automatically adjusted when you execute the tuning-less func-
tion.
Do not manually change the settings of these parameters after you have enabled the tuning-
less function.
Parameter
Pn401 (2401 hex)
Pn40C (240C hex) Second Stage Notch Filter Frequency
Pn40D (240D hex) Second Stage Notch Filter Q Value
Item
Speed Loop Gain
Second Speed Loop Gain
Speed Loop Integral Time Constant
Second Speed Loop Integral Time Constant
Position Loop Gain
Second Position Loop Gain
Moment of Inertia Ratio
Friction Compensation Function Selection
Anti-Resonance Control Selection
Gain Switching Selection
Do not adjust the second stage notch filter
automatically during execution of autotuning

without a host reference, autotuning with a
host reference, and custom tuning.
Adjust the second stage notch filter automati-

cally during execution of autotuning without a
host reference, autotuning with a host refer-
ence, and custom tuning.
First Stage First Torque Reference Filter Time Constant

8.4.4 Parameters Disabled by Tuning-less Function

Parameter Name
Meaning
Name
8.4 Tuning-less Function
Parameter Number
Pn100 (2100 hex)
Pn104 (2104 hex)
Pn101 (2101 hex)
Pn105 (2105 hex)
Pn102 (2102 hex)
Pn106 (2106 hex)
Pn103 (2103 hex)
Pn408 (2408 hex) =

n.X
Pn160 (2160 hex)=

n. X
Pn139 (2139 hex)=

n. X
When Enabled Classification
Immediately Tuning
8
8-15