YASKAWA JUSP-MD D01A Series User Manual page 229

Step Display after Operation
6
7
8
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.
(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.
Parameter
n.0
[Factory setting]
Pn140
n.1
Refer to 6.7.2 Torque Feedforward and 6.7.3 Speed Feedforward for details.
Keys
Function
Model following control is not used together with the
speed/torque feedforward input.
Model following control is used together with the
speed/torque feedforward input.
6.5 Vibration Suppression Function (Fn205)
Operation
Press the Key. The "Setting f" will change to
usual display and the frequency currently displayed
will be set for the vibration suppression function
Example of measured waveform
Press the Key to save the adjusted settings in the
multi-winding drive unit. "DONE" will flash for
approximately two seconds and "RUN" will be dis-
played.
Press the Key to complete the vibration suppres-
sion function. The screen in step 1 will appear again.
When Enabled
Immediately
(cont'd)
.
Rota-
tion
Position
Error
Torque
reference
Classification
6
Tuning
6-35