Tuning-Less Function - YASKAWA SGDV User Manual

6.2

Tuning-less Function

The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration
occurs, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for
the rigidity level and the set value in Pn170.3 for the load level.
• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the /
S_ON signal is turned ON for the first time after the servo drive is mounted to the machine. This sound
does not indicate any problems; it means that the automatic notch filter was set. The sound will not be
heard from the next time the /S_ON signal is turned ON. For details on the automatic notch filter, refer to
(3) Automatically Setting the Notch Filter on the next page.
• The servomotor may vibrate if the load moment of inertia exceeds the allowable load value.
If vibration occurs, set the load level to mode 2 in Turning-less Levels Setting (Fn200) or lower the rigidity
level.

6.2.1 Tuning-less Function

The tuning-less function obtains a stable response without manual adjustment regardless of the type of
machine or changes in the load.
(1) Enabling/Disabling Tuning-less Function
The following parameter is used to enable or disable the tuning-less function.
Parameter
n.
n.
[Factory setting]
Pn170
n. 0
[Factory setting]
n. 1
(2) Application Restrictions
The tuning-less function can be used in position control or speed control. This function is not available in
torque control. The following application restrictions apply to the tuning-less function.
Vibration detection level initialization
(Fn01B)
Advanced autotuning (Fn201)
Advanced autotuning by reference (Fn202)
One-parameter tuning (Fn203)
Anti-resonance control adjustment
function (Fn204)
Vibration suppression function (Fn205)
EasyFFT (Fn206)
Friction compensation
Gain switching
0
Disables tuning-less function.
1
Enables tuning-less function.
Used as speed control.
Used as speed control and host controller used as
position control.
Function
(Some conditions apply)
CAUTION
Meaning
Availability
Available
• This function can be used when the
moment of inertia is calculated.
Available
• While this function is being used, the tun-
ing-less function cannot be used. After
completion of the autotuning, it can be
used again.
Not available
Not available
Not available
Not available
While this function is being used, the tuning-
Available less function cannot be used. After comple-
tion of the EasyFFT, it can be used again.
Not available
Not available
6.2 Tuning-less Function
When Enabled Classification
After restart Setup
Remarks
–
–
–
–
–
–
–
6
6-11