YASKAWA Sigma-V Series User Manual page 267

6 Adjustments
6.7.2 Vibration Suppression Function Operating Procedure
Step
6
7
8
(3) Related Function on Vibration Suppression Function
This section describes functions related to vibration suppression function.
Feedforward
The feedforward gain (Pn109), speed feedforward (V-REF) input, and torque feedforward (T-REF) input will
be disabled in the factory setting.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (V-REF) input and
torque feedforward (T-REF) input from the host controller.
Pn140
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-56
Display after Operation
No settings related to the vibration suppression function will be changed during opera-
tion.
If the servomotor does not stop approximately 10 seconds after the setting changes, a
timeout error will result and the previous setting will be automatically enabled again.
The vibration suppression function will be enabled in step 6. The motor response, how-
ever, will change when the servomotor comes to a stop with no reference input.
Parameter
n.0
Model following control is not used together with the
speed/torque feedforward input.
[Factory setting]
Model following control is used together with the
n.1
speed/torque feedforward input.
Keys
Press the
usual display and the frequency currently displayed
will be set for the vibration suppression function
Example of measured waveform
Press the
flash for approximately two seconds and "RUN" will
be displayed again.
Press the
sion function. The screen in step 1 will appear again.
Function
Operation
Key. The "Setting f" will change to
Rota-
tion
Position
Error
Torque
reference
Key to save the setting. "DONE" will
Key to complete the vibration suppres-
When Enabled Classification
Immediately Tuning
(cont'd)
.