Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 160)

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. If resonance is generated or excessive vibration
occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for
the rigidity level and the set value in Pn170.3 for the load level.
5.2.1 Tuning-less Function
The tuning-less function obtains a stable response without manual 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
force 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
SV_ON command is received for the first time after the servo drive 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 SV_ON command is received. For details on the automatic notch filter, refer
to (3) Automatically Setting the Notch Filter on the next page.
• The servomotor may vibrate if the mass of the load is 30 times greater or more than that of the servomotor
in the mass ratio.
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
[Factory setting]
Enables tuning-less function.
n. 0
[Factory setting]
Used as speed control.
n. 1
Used as speed control and host controller used as
position control.
Function Availability Remarks
Vibration detection level initialization
(Fn01B)
Available –
Advanced autotuning (Fn201)
Available
(Some conditions apply)
• This function can be used when the mass is
calculated.
• While this function is being used, the
tuning-less function cannot be used. After
completion of the autotuning, it can be
used again.
Advanced autotuning by reference (Fn202) Not available –
One-parameter tuning (Fn203) Not available –
Anti-resonance control adjustment func-
tion (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. After
completion of the EasyFFT, it can be used
again.
Friction compensation Not available –