YASKAWA E-V Series User Manual page 195

6 Adjustments
6.2.2 Tuning-less Operating Procedure
(4) Parameters Disabled by Tuning-less Function
Item
Speed Loop Gain
Speed Loop Integral Time
Constant
Gain
Position Loop Gain
Mass Ratio
Friction Compensation Switch
Advanced
Control
Anti-resonance Control Switch
Gain Switching Switch
Gain
Switching
Manual Gain Switching
Note:
×
(5) 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
6-14
Name
: Uses the setting value.
: Does not use the setting value.
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]
Function to use parameters
Speed Zero
Pn
Limit Clamp
Number
during during
Force Force
Control Control
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
Zero-
speed Mechanical
Stop Easy Analysis
during FFT (Vertical
Force Axis Mode)
Control
×
× × ×
× × ×
× × ×
Meaning
When Enabled
After restart
Remarks
Classification
Tuning