Tuning-Less Function - YASKAWA SGMJV User Manual

6.2

Tuning-less Function

The tuning-less function is enabled in the factory settings. Do not disable this function for normal applica-
tions. If resonance is generated or excessive vibration occurs during position control, refer to 6.2.2 Tuning-less
Levels 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 settings. A sound may be heard for a moment when the
servo is turned ON for the first time after the SERVOPACK 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 servo is turned ON. For details on the automatic notch filter, refer to (3) Automati-
cally Setting the Notch Filter on the next page.
• Set the mode to 2 in Fn200 if a 13-bit encoder is used with the load moment of inertia ratio set to x10 or
higher.
• The servomotor may vibrate if the load moment of inertia ratio exceeds the allowable moment of inertia of
the servomotor.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.

6.2.1 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.
Parameter
n.
n.
Pn170
n.
n.
(2) Application Restrictions
The tuning-less function can be used in position control or speed control. This function is not available in
torque control. The following application restrictions apply to the tuning-less function.
Control Function
Initialize vibration detection level (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 Moment of Inertia Setting *
Meaning
0 Disables tuning-less function.
1 Enables tuning-less function. [Factory setting]
0 Used as speed control. [Factory setting]
Used as speed control and host controller used as
1
position control.
(Some conditions apply)
CAUTION
When Enabled
Availability
Available
• This function can be used when the
moment of inertia is calculated.
Available
• While this function is being used, the tun-
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
6.2 Tuning-less Function
Classification
After restart Setup
Remarks
6
6-11