YASKAWA E-V-MD Series User Manual page 208

9.
After the vibration has been successfully suppressed, click Finish.
The value of the Set frequency will be transferred to and saved in the SERVOPACK.
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 9. The motor response, how-
ever, will change when the servomotor comes to a stop with no reference input.
(2) Related Function on Vibration Suppression Function
This section describes functions related to vibration suppression function.
 Feedforward
The feedforward gain (PnAC8), 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
Parameter
n.0
[Factory setting]
Pn140
n.1
Σ
Refer to the -V-MD Series User's Manual MECHATROLINK-III Standard Servo Profile Commands (Manual
No.: SIEP S800001 03) for information on the speed feedforward (VFF) input and torque feedforward (TFF)
input.
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.
• 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.
8.7 Vibration Suppression Function
When Enabled Classification
Immediately Tuning
8
8-75