Setting Combined Functions; Related Parameters - YASKAWA SGD7S-1R9D Product Manual

8.10 Vibration Suppression

8.10.5 Setting Combined Functions

5.
When the vibration has been eliminated, click the Finish Button.
The updated value will be saved in the SERVOPACK.
Important
This concludes the procedure to set up vibration suppression.

8.10.5 Setting Combined Functions

You can also use the feedforward function when you execute vibration suppression.
In the default settings, feedforward (Pn109), the speed feedforward input (VFF), and the torque
feedforward input (TFF) are disabled.
To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model fol-
lowing control from the host controller in the system, set Pn140 to n.1 (Use model follow-
ing control and speed/torque feedforward together).
Pn140
(2140
hex)
Important

8.10.6 Related Parameters

The following parameters are automatically adjusted or used as reference when you execute
vibration suppression.
Do not change the settings while vibration suppression is being executed.
Parameter
Pn140 (2140 hex)
Pn141 (2141 hex)
Pn142 (2142 hex)
Pn143 (2143 hex)
Pn144 (2144 hex)
Pn145 (2145 hex)
Pn146 (2146 hex)
Pn147 (2147 hex)
Pn14A (214A hex) Vibration Suppression 2 Frequency
Pn14B (214B hex) Vibration Suppression 2 Correction
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
8-58
Vibration suppression will be enabled in step 5. The motor response, however, will change when
the Servomotor comes to a stop with no reference input.
Parameter

n.0
Do not use model following control and
speed/torque feedforward together.
(default setting)
Use model following control and speed/

n.1
torque feedforward together.
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (VFF) or torque feedforward input (TFF) from the
host controller. However, model following control can be used with the speed feedforward input
(VFF) or torque feedforward input (TFF) if required. An unsuitable feedforward input may result in
overshooting.
Model Following Control-Related Selections
Model Following Control Gain
Model Following Control Correction
Model Following Control Bias in the Forward Direction
Model Following Control Bias in the Reverse Direction
Vibration Suppression 1 Frequency A
Vibration Suppression 1 Frequency B
Model Following Control Speed Feedforward Compensation
Function
Name
When Enabled Classification
Immediately Tuning
Automatic Changes
Yes
Yes
No
No
No
Yes
Yes
No
No
No