6.2 Tuning-less Function6-116 Adjustments6.2 Tuning-less FunctionThe tuning-less function is enabled in the factory settings. Do not disable this function for normal applica-tions. If resonance is generated or excessive vibration occurs during position control, refer to 6.2.2 Tuning-lessLevels Setting (Fn200) Procedure and reduce the set value of Pn170.2 for the tuning-less adjustment level andthe set value in Pn170.3 for the tuning-less load level.6.2.1 Tuning-less FunctionThe tuning-less function obtains a stable response without adjustment regardless of the type of machine orchanges in the load.(1) Enabling/Disabling Tuning-less FunctionThe following parameter is used to enable or disable the tuning-less function.(2) Application RestrictionsThe tuning-less function can be used in position control or speed control. This function is not available intorque 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 theservo is turned ON for the first time after the SERVOPACK is mounted to the machine. This sound doesnot indicate any problems; it means that the automatic notch filter was set. The sound will not be heardfrom the next time the servo is turned ON. For details on the automatic notch filter, refer to (3) Automati-cally Setting the Notch Filter on the next page.• Set the mode to 2 in Fn200 if a 13-bit encoder is used with the load moment of inertia ratio set to x10 orhigher.• The servomotor may vibrate if the load moment of inertia ratio exceeds the allowable moment of inertia ofthe servomotor.If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.Parameter Meaning When Enabled ClassificationPn170n.0 Disables tuning-less function.After restart Setupn.1 Enables tuning-less function. [Factory setting]n.0 Used as speed control. [Factory setting]n.1 Used as speed control and host controller used asposition control.Control Function Availability RemarksInitialize vibration detection level (Fn01B) AvailableAdvanced autotuning (Fn201) Available(Some conditions apply)• This function can be used when themoment of inertia is calculated.• While this function is being used, the tun-ing-less function cannot be used tempo-rarily.Advanced autotuning by reference (Fn202) Not availableOne-parameter tuning (Fn203) Not availableAnti-resonance control adjustmentfunction (Fn204) Not availableVibration suppression function (Fn205) Not availableEasyFFT (Fn206) Available While this function is being used, the tuning-less function cannot be used temporarily.Friction compensation Not availableGain switching Not availableOffline Moment of Inertia Setting * Not available
