YASKAWA SGMJV User Manual page 210

6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
Excessive Vibration during Position Control
Take one of the following actions to correct the problem.
• Increase the setting of the tuning load level or reduce the setting of the tuning adjustment level.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
(5) Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled in the factory settings, the setting of these parameters are not avail-
able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related
parameters, however, may become effective depending on the executing conditions of the functions specified
in the following table. If EasyFFT is executed when the tuning-less function is enabled, the settings in Pn100,
Pn104, Pn101, Pn105, Pn102, Pn106, and Pn103, as well as the manual gain switch setting, will be enabled,
but the settings in Pn408.3, Pn160.0, and Pn139.0 will be not enabled
Item
Gain
Advanced
Control
Gain
Switching
Note:
×
(6) Tuning-less Function by SERVOPACK Software Version
When using a direct-drive servomotor, two types of tuning-less functions with differing responsiveness are
available and have different versions of the SERVOPACK software: Tuning-less Type 1 with version 000A or
earlier and Type 2 with version 000B or later.
With SERVOPACK software 000B or later for Type 2, the level of noise produced is lower than that of SER-
VOPACK software 000A or earlier for Type 1. Tuning-less Type 2 is enabled by default. When compatibility
with SERVOPACK software 000A or earlier is required, select Tuning-less Type 1 (Pn14F.1 = 0).
000A or earlier
000B or later
∗
The software version number of your SERVOPACK can be checked with Fn012.
Pn14F
6-16
Parameters Disabled by Tuning-less Function
Name
Speed Loop Gain
2nd Speed Loop Gain
Speed Loop Integral Time
Constant
2nd Speed Loop Integral Time
Constant
Position Loop Gain
2nd position Loop Gain
Moment of Inertia Ratio
Friction Compensation Switch
Anti-resonance Control Switch
Gain Switching Switch
: Available
: Not available
Software Version*
Tuning-less type 1
Tuning-less type 2
Parameter
n. 0 Tuning-less type 1
n. 1 Tuning-less type 2 [Factory setting]
Pn Number
Pn100
Pn104
Pn101
Pn105
Pn102
Pn106
Pn103
Pn408.3
Pn160.0
Pn139.0
Tuning-less Type
−
The level of noise produced is lower than that of Type 1.
Meaning
.
Related Functions and Parameters
Torque Easy
Control FFT
×
×
× ×
× ×
× ×
Meaning
When Enabled
After restart
Mechanical
Analysis
(Vertical Axis
Mode)
×
×
×
Classification
Tuning