YASKAWA E-V Series User Manual page 121

5 Adjustments
5.3.1 Advanced Autotuning
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.
When 2 or 3 is set to the mode, the friction compensation function is automatically enabled.
Friction
Compensation
Setting
Pn408
: Adjusted with the friction compensation function.
× : Adjusted without the friction compensation function.
(8) Feedforward
If tuning is performed at mode 2 or mode 3, the feedforward reference (Pn109) will be ignored because model
following control will be enabled.
The following settings are required if model following control is used together with the external speed/force
feedforward.
Pn140
5-18
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
Parameter
Model following control is not used together with
n.0 external speed/force feedforward input.
[Factory setting]
Model following control is used together with exter-
n.1
nal speed/force feedforward input.
Function
Name
Mode 2
Mode 3
×
Function
When Enabled Classification
Immediately Tuning
When Enabled Classification
Immediately Tuning