Tuning-Less Function - YASKAWA SGMJV User Manual

5.2

Tuning-less Function

The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration
occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for
the rigidity level and the set value in Pn170.3 for the load level.
• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the
SV_ON command is received for the first time after the servo drive 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 SV_ON command is received. For details on the automatic notch filter, refer
to (3) Automatically Setting the Notch Filter on the next page.
• Set the mode to 2 in Fn200 if a 13-bit encoder is used with the moment of inertia ratio set to x10 or higher.
• The servomotor may vibrate if the load moment of inertia exceeds the allowable load value.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.

5.2.1 Tuning-less Function

The tuning-less function obtains a stable response without manual 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.0
n.1
[Factory setting]
Pn170
n.0
[Factory setting]
n.1
(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.
Vibration detection level initialization
(Fn01B)
Advanced autotuning (Fn201)
Advanced autotuning by reference (Fn202)
One-parameter tuning (Fn203)
Anti-resonance control adjustment func-
tion (Fn204)
Vibration suppression function (Fn205)
EasyFFT (Fn206)
Friction compensation
Gain switching
Disables tuning-less function.
Enables tuning-less function.
Used as speed control.
Used as speed control and host controller used as
position control.
Function
(Some conditions apply)
CAUTION
Meaning
Availability
Available
• Execute this function when calculating the
moment of inertia (Jcalc = ON) is set.
Available
• The tuning-less function is disabled while
Fn201 is being executed. It remains dis-
abled after Fn201 is completed.
Not available
Not available
Not available
Not available
While this function is being used, the tuning-
less function cannot be used. After
Available
completion of the EasyFFT, it can be used
again.
Not available
Not available
5.2 Tuning-less Function
When Enabled Classification
After restart Setup
Remarks
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–
–
–
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