Yaskawa Σ-V Series AC Servo Drives Rotational Motor Analog Voltage Reference - Manual (Page 165)

6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
6-14
Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the
notch filter will be set again automatically.
(3) Alarm and Corrective Actions
The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during
position control. In such case, take one of the following actions.
• Increase the setting of the rigidity level or reduce the load level in the Fn200 utility function.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
(4) Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled in the factory settings, the settings of these parameters are not avail-
able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related
parameters, however, may become effective depending on the executing conditions of the functions specified
in the following table. For example, if EasyFFT is executed when the tuning-less function is enabled, the set-
tings in Pn100, Pn104, Pn101, Pn105, Pn102, Pn106, and Pn103, as well as the manual gain switch setting,
will be enabled, but the settings in Pn408.3, Pn160.0, and Pn139.0 will be not enabled
.
3
Press the Key to display the rigidity level of the
tuning-less mode setting screen.
4
Press the Key or the Key to select the rigid-
ity level.
Select the rigidity level from 0 to 4. The larger the
value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
Notes:
• Vibration may occur if the rigidity level is too high.
Lower the rigidity level if vibration occurs.
• If a high-frequency noise is heard, press the
Key to automatically set a notch filter to the vibra-
tion frequency.
5
Press the Key. “DONE” will flash for approxi-
mately two seconds and then “RUN” will be dis-
played. The settings are saved in the SERVOPACK.
6
Press the Key to complete the tuning-less func-
tion. The screen in step 1 will appear again.
(cont’d)
Step Display after Operation Keys Operation
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
ޓ㧸㨑㨢㨑㨘㧩㧠
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠 ̆
ޓ㧸㨑㨢㨑㨘㧩㧠
ޓޓޓޓޓ㧺㧲㧞
2nd notch filter
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
ޓ㧸㨑㨢㨑㨘㧩㧠
㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧜㧟㧜
㧲㨚㧞㧜㧜
㧲㨚㧞㧜㧝
㧲㨚㧞㧜㧞
Parameters Disabled by Tuning-less Function Related Functions and Parameters*
Item Name Pn Number
Torque
Control
Easy
FFT
Mechanical
Analysis
(Vertical Axis
Mode)
Gain
Speed Loop Gain
2nd Speed Loop Gain Pn100
Pn104
Speed Loop Integral Time Constant Pn101
×
2nd Speed Loop Integral Time Constant Pn105
Position Loop Gain
2nd Position Loop Gain Pn102
Pn106
×
Moment of Inertia Ratio Pn103