YASKAWA E-V Series User Manual page 151

Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
by reference and vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before
executing advanced autotuning by reference.
Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
• Related Parameters
Parameter
n. 0
Pn140
n. 1
[Factory setting]
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 friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
Conditions to which friction compensation is applicable depend on the mode. The friction compensation set-
ting in Pn408.3 applies when the mode is 1. Mode = 2 and Mode = 3 are adjusted with the friction compensa-
tion function regardless of the friction compensation setting in P408.3.
Mode
Friction
Compensation
Selecting
n.0
[Factory setting]
Pn408
n.1
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
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.
Parameter
n.0
[Factory setting]
Pn140
n.1
Σ
Refer to -V Series User's Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for
details.
• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.
Function
Does not use the vibration suppression function auto-
matically.
Uses the vibration suppression function automati-
cally.
Mode = 1
Adjusted without the friction
compensation function
Adjusted with the friction
compensation function
Adjusted with the friction
compensation function
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.
5.4 Advanced Autotuning by Reference (Fn202)
When Enabled Classification
Immediately
Mode = 2 Mode = 3
Adjusted with the friction
compensation function
When Enabled Classification
Immediately
Tuning
Tuning
5
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