Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 126)

5 Adjustments
5.2.2 Tuning-less Levels Setting (Fn200) Procedure
5-16
(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 the following actions.
• 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
.
∗ : Parameter enabled
× : Parameter disabled
(5) Tuning-less Function Type
The following table shows the types of tuning-less functions.
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
Advanced
Control
Friction Compensation Function Selec-
tion
Pn408.3 Ч Ч Ч
Anti-resonance Control Adjustment
Selection
Pn160.0 Ч Ч Ч
Gain
Switching
Gain Switching Selection Switch Pn139.0 Ч Ч Ч
Parameter Meaning When Enabled Classification
Pn14F
n. 0 Tuning-less type 1
After restart Tuning
n. 1
[Factory setting]
Tuning-less type 2
(The level of noise produced is lower than that of
Type 1.)