2 tuning-less function, 1 tuning-less function, Caution – Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface User Manual

Page 170: 1) enabling/disabling tuning-less function, 2) application restrictions

5.2 Tuning-less Function

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Adjustm

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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

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

Servo ON command 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 Servo ON command is turned ON. 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 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

Disables tuning-less function.

After restart

Setup

[Factory setting] Enables tuning-less function.
n.

[Factory setting]

Used as speed control.

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 is set to disable.

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

–

Gain switching

Not available

–