Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 194)

5 Adjustments
5.7.2 Vibration Suppression Function Operating Procedure
5-50
(3) Related Function
This section describes a function related to vibration suppression.
„ Feedforward
If this function is performed, the feedforward reference (Pn109) will be ignored because model following con-
trol will be enabled.
The following settings are required if model following control is used from the host controller (through the
command option module) together with speed feedforward input or force feedforward input.
6
Press the Key. The “Setting f” will change to
usual display and the frequency currently displayed
will be set for the vibration suppression function
.
7
Press the Key to save the settings in the SER-
VOPACK.
“DONE” will blink for approx. 2 seconds and “RUN”
will be displayed.
8
Press the Key to complete the vibration suppres-
sion function. The screen in step 1 will appear again.
Step Display after Operation Keys Operation
㧾㨁㧺     ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑 㨒㧩㧜㧝㧜㧚㧠㧴㨦
㧿㨑㨠㨠㨕㨚㨓 㨒㧩㧜㧝㧞㧚㧠㧴㨦
Error
Force
reference
㧾㨁㧺     ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑㨒 㧩㧙㧙㧙㧙㧙㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒 㧩㧜㧝㧞㧚㧠㧴㨦
㧾㨁㧺    ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧠
㧲㨚㧞㧜㧡
㧲㨚㧞㧜㧢
㧲㨚㧞㧜㧣
No settings related to the vibration suppression function will be changed during opera-
tion.
If the linear servomotor does not stop approximately 10 seconds after the setting
changes, a timeout error will result and the previous setting will be enabled again.
The vibration suppression function will be enabled when the parameter is set in step 6.
The linear servomotor response, however, will change when the linear servomotor
comes to a stop with no reference input.
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control from the host controller is not used together with
either the speed feedforward input or force feedforward input. An improper speed
feedforward input or force feedforward input may result in overshooting.
Parameter Function When Enabled Classification
Pn140
n.0†††
Does not use the model following control together
with speed/force feedforward input. [Factory setting]
Immediately Tuning
n.1†††
Uses the model following control together with
speed/force feedforward input.