YASKAWA E-V Series User Manual page 209

6 Adjustments
6.4.1 Advanced Autotuning by Reference
(6) Model Following Control with Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
by reference and model following control with vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for model following control with
vibration suppression before executing advanced autotuning by reference.
Note: This function uses model following control. Therefore, the function can be executed only if the adjustment level is
set to mode 2 or 3.
Related Parameters
Pn140
The following parameters related to model following control with vibration suppression are set automatically.
Parameter
Pn141
Pn145
Pn146
Note: The following parameters related to model following control with vibration suppression are not set automatically
but the respective set values in the parameters will apply.
Model following control gain compensation (Pn142)
(7) Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the load resistance resulting from fluctuations in the machine assembly
• Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the tuning level. The friction compensation
setting in Pn408.3 applies when the mode is 1.
Friction
Compensation
Setting
Pn408
: Adjusted with the friction compensation function.
×: Adjusted without the friction compensation function.
6-28
Parameter
Does not use the vibration suppression function auto-
n. 0
matically.
Uses the vibration suppression function automati-
n. 1
cally. [Factory setting]
Model Following Control Gain
Vibration Suppression 1 Frequency A
Vibration Suppression 1 Frequency B
Tuning
Level
Mode 1
n.0
n.1
Function
Name
Mode 2
Mode 3
×
When Enabled Classification
Immediately Tuning