YASKAWA SGMJV User Manual page 248

6 Adjustments
6.7.2 Vibration Suppression Function Operating Procedure
Step
6
7
8
(3) Related Function
This section describes functions related to vibration suppression.
Feedforward
When the vibration suppression function is performed, the feedforward reference (Pn109), speed feedforward
(V-REF) input, and torque feedforward (T-REF) input will become unavailable.
Set Pn140.3 (4th digit of Pn140) to 1 if model following control is used together with one or both of the fol-
lowing inputs:
• Speed feedforward (V-REF) input
• Torque feedforward (T-REF) input
Pn140
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-54
Display after Operation
No settings related to the vibration suppression function will be changed during opera-
tion.
If the motor does not stop approximately 10 seconds after the setting changes, a timeout
error will result and the previous setting will be enabled again.
The vibration suppression function will be enabled when the parameter is set in step 6.
The motor response, however, will change when the motor comes to a stop with no refer-
ence input.
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
Parameter
Model following control is not used together with
n.0
speed/torque feedforward input. [Factory setting]
Model following control is used together with speed/
n.1
torque feedforward input.
Keys
Press the
usual display and the frequency currently displayed
will be set for the vibration suppression function
Press the
"DONE" will blink for two seconds and "RUN" will
be displayed.
Press the
sion function. The screen in step 1 will appear again.
Function
Operation
Key. The "Setting f" will change to
Error
Torque
reference
Key to save the settings.
Key to complete the vibration suppres-
When Enabled Classification
Immediately Tuning
.