Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 186)

5.7 Vibration Suppression Function (Fn205)
5-49
Adjustments
(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 torque 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.
“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.
(cont’d)
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
Torque
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 motor 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 motor response, however, will change when the motor comes to a stop with no refer-
ence 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 torque feedforward input. An improper speed
feedforward input or torque feedforward input may result in overshooting.
Parameter Function When Enabled Classification
Pn140
n.0
Model following control is not used together with
speed/torque feedforward input. [Factory setting]
Immediately Tuning
n.1
Model following control is used together with speed/
torque feedforward input.