Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 215)

6 Adjustments
6.2.1 Tuning-less Function
6-12
6.2 Tuning-less Function
The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration
occurs, refer to 6.2.2 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.
6.2.1 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
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 /
S_ON signal is turned ON 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 /S_ON signal 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 moment of inertia ratio set to x10 or higher.
• The servomotor may vibrate if the load moment of inertia exceeds the allowable load value.
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
moment of inertia 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 –