YASKAWA SGD7S-xxxDA0 series Product Manual

Contents

9.4 Tuning-less Function9.4.4 Parameters Disabled by Tuning-less Function9-159 Tuning9.4.4 Parameters Disabled by Tuning-less FunctionWhen the tuning-less function is enabled (Pn170 = n.1) (default setting), the parametersin the following table are disabled.The tuning-less function is disabled during torque control, Easy FFT, and mechanical analysisfor a vertical axis. The gain-related parameters in the above table are enabled for torque con-trol, Easy FFT, and mechanical analysis. Of these, Pn100, Pn103, and Pn104 are enabled fortorque control.9.4.5 Automatically Adjusted Function SettingYou can also automatically adjust notch filters.Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration is automati-cally detected and a notch filter is set.Set Pn460 to n.0 (Do not adjust automatically) only if you do not change the setting ofthe notch filter before you execute the tuning-less function.9.4.6 Related ParametersThe following parameters are automatically adjusted when you execute the tuning-less func-tion.Do not manually change the settings of these parameters after you have enabled the tuning-less function.Item Parameter Name Parameter NumberGain-Related ParametersSpeed Loop GainSecond Speed Loop GainPn100 (2100h)Pn104 (2104h)Speed Loop Integral Time ConstantSecond Speed Loop Integral Time ConstantPn101 (2101h)Pn105 (2105h)Position Loop GainSecond Position Loop GainPn102 (2102h)Pn106 (2106h)Moment of Inertia Ratio Pn103 (2103h)Advanced Control-RelatedParametersFriction Compensation Function Selection Pn408 (2408h) =n.XAnti-Resonance Control Selection Pn160 (2160h)=n.XGain Selection-Related Parameters Gain Switching Selection Pn139 (2139h)=n.XParameter Meaning When Enabled ClassificationPn460(2460h)n.0Do not adjust the second stage notch filterautomatically when the tuning-less function isenabled or during execution of autotuningwithout a host reference, autotuning with ahost reference, and custom tuning. Immediately Tuningn.1(default setting)Adjust the second stage notch filter automati-cally when the tuning-less function is enabledor during execution of autotuning without ahost reference, autotuning with a host refer-ence, and custom tuning.Parameter NamePn401 (2401h) First Stage First Torque Reference Filter Time ConstantPn40C (240Ch) Second Stage Notch Filter FrequencyPn40D (240Dh) Second Stage Notch Filter Q Value