Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 147)

5 Adjustments
5.2.1 Tuning-less Function
5-10
5.2 Tuning-less Function
The tuning-less function is enabled in the factory settings. Do not disable this function for normal applica-
tions. If resonance is generated or excessive vibration occurs during position control, refer to 5.2.2 Tuning-less
Levels Setting (Fn200) Procedure and reduce the set value of Pn170.2 for the tuning-less adjustment level and
the set value in Pn170.3 for the tuning-less load level.
5.2.1 Tuning-less Function
The tuning-less function obtains a stable response without adjustment regardless of the type of machine or
changes in the load.
(1) Enabling/Disabling Tuning-less Function
The following parameter is used to enable or disable the tuning-less function.
(2) Application Restrictions
The tuning-less function can be used in position control or speed control. This function is not available in
torque control. The following application restrictions apply to the tuning-less function.
CAUTION
• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the
servomotor power is turned ON for the first time after the SERVOPACK is mounted to the machine. This
sound does not indicate any problems; it means that the automatic notch filter was set. The sound will not
be heard from the next time the servomotor power is turned ON. For details on the automatic notch filter,
refer to (3) Automatically Setting the Notch Filter on the next page.
• Set the mode to 2 in Fn200 if a 13-bit encoder is used with the load moment of inertia ratio set to x10 or
higher.
• The servomotor may vibrate if the load moment of inertia ratio exceeds the allowable moment of inertia of
the servomotor.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.
Parameter Meaning When Enabled Classification
Pn170
n. 0 Disables tuning-less function.
After restart Setup
n. 1 Enables tuning-less function. [Factory setting]
n. 0 Used as speed control. [Factory setting]
n. 1
Used as speed control and host controller used as
position control.
Control Function Availability Remarks
Vibration detection level initialization
(Fn01B)
Available
Advanced autotuning (Fn201)
Available
(Some conditions apply)
• This function can be used when the
moment of inertia is calculated.
• While this function is being used, the tun-
ing-less function cannot be used tempo-
rarily.
Advanced autotuning by reference (Fn202) Not available
One-parameter tuning (Fn203) Not available
Anti-resonance control adjustment
function (Fn204)
Not available
Vibration suppression function (Fn205) Not available
EasyFFT (Fn206) Available
While this function is being used, the tuning-
less function cannot be used temporarily.
Friction compensation Not available
Gain switching Not available
Offline Moment of Inertia Setting * Not available