YASKAWA Sigma-V Series User Manual page 191

5 Adjustments
5.5.2 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 (VFF) input, and torque feedforward (TFF) input will be
disabled in the factory setting.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Pn140
Refer to the
MECHATROLINK-II Commands (No.: SIEP S800000 54) for information on the speed feedforward (VFF)
input and torque feedforward (TFF) input.
5-34
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.
Σ
-V Series/DC Power Input
Keys
Press the
usual display and the frequency currently displayed
will be set for the vibration suppression function
Press the
multi-winding drive unit. "DONE" will flash for
approximately two seconds and "RUN" will be dis-
played.
Press the
sion function. The screen in step 1 will appear again.
Function
Σ Σ
-V Series/ -V Series for Large-Capacity Models User's Manual
Operation
Key. The "Setting f" will change to
Example of measured waveform
Key to save the adjusted settings in the
Key to complete the vibration suppres-
When Enabled
Immediately
(cont'd)
.
Rota-
tion
Position
Error
Torque
reference
Classification
Tuning