YASKAWA E-7S SERVOPACK SGD7S - Page 299

8.6 Autotuning without Host Reference
8.6.6 Automatically Adjusted Function Settings
8-32
 Vibration Suppression
You can use vibration suppression to suppress transitional vibration at a low frequency from 1
Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning.
Normally, set Pn140 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and vibration suppression
control will be automatically set.
Set Pn140 = n.0 (Do not adjust automatically) only if you do not change the settings for
vibration suppression before you execute autotuning without a host reference.
Note: Autotuning without a host reference uses model following control. Therefore, it can be executed only if the
mode is set to 2 or 3.
 Friction Compensation
Friction compensation compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as grease, on the sliding parts of the
machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
The conditions for applying friction compensation depend on the mode selection.
* Refer to the following section for details.
Required Parameter Settings on page 8-67
Parameter Function When Enabled Classification
Pn140
n.
0
Do not adjust vibration suppression automati-
cally during execution of autotuning without a
host reference, autotuning with a host refer-
ence, and custom tuning.
Immediately Tuning
n.
1
(default setting)
Adjust vibration suppression automatically
during execution of autotuning without a host
reference, autotuning with a host reference,
and custom tuning.
Mode Selection Settings Friction Compensation
1: Standard
Based on the setting of Pn408 = n.X
(Friction Compensation Function Selection)*
2: For position control
Adjusted with friction compensation.
3: For position control (emphasis on overshooting)
Parameter Function When Enabled Classification
Pn408
n.0

(default setting)
Disable friction compensation.
Immediately Setup
n.1
 Enable friction compensation.