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8.6 Autotuning without Host Reference
8.6.6 Automatically Adjusted Function Settings
Vibration Suppression
You can use vibration suppression to suppress transitional vibration at a low frequency from 1
Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning.
Normally, set Pn140 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and vibration suppression
control will be automatically set.
Set Pn140 = n.0 (Do not adjust automatically) only if you do not change the settings for
vibration suppression before you execute autotuning without a host reference.
Note: Autotuning without a host reference uses model following control. Therefore, it can be executed only if the
mode is set to 2 or 3.
Pn140
Friction Compensation
Friction compensation compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as grease, on the sliding parts of the
machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
The conditions for applying friction compensation depend on the mode selection.
1: Standard
2: For position control
3: For position control (emphasis on overshooting)
Pn408
*
Refer to the following section for details.
Required Parameter Settings on page 8-62
8-32
Parameter
Do not adjust vibration suppression automati-
cally during execution of autotuning without a
n.
0
host reference, autotuning with a host refer-
ence, and custom tuning.
Adjust vibration suppression automatically
n.
1
during execution of autotuning without a host
reference, autotuning with a host reference,
(default setting)
and custom tuning.
Mode Selection Settings
Parameter
n. 0
Disable friction compensation.
(default setting)
n. 1
Enable friction compensation.
Function
Friction Compensation
Based on the setting of Pn408 = n.X
(Friction Compensation Function Selection)
Adjusted with friction compensation.
Function
When Enabled
Classification
Immediately
Tuning
*
When Enabled
Classification
Immediately
Setup
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Troubleshooting
