6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
6-16
Excessive Vibration during Position Control
Take one of the following actions to correct the problem.
• Increase the setting of the tuning load level or reduce the setting of the tuning adjustment level.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
(5) Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled in the factory settings, the setting 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. If EasyFFT is executed when the tuning-less function is enabled, the settings 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
.
Note: {: Available
×: Not available
(6) Tuning-less Function by SERVOPACK Software Version
When using a direct-drive servomotor, two types of tuning-less functions with differing responsiveness are
available and have different versions of the SERVOPACK software: Tuning-less Type 1 with version 000A or
earlier and Type 2 with version 000B or later.
With SERVOPACK software 000B or later for Type 2, the level of noise produced is lower than that of SER-
VOPACK software 000A or earlier for Type 1. Tuning-less Type 2 is enabled by default. When compatibility
with SERVOPACK software 000A or earlier is required, select Tuning-less Type 1 (Pn14F.1 = 0).
∗ The software version number of your SERVOPACK can be checked with Fn012.
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
2nd Speed Loop Integral Time
Constant
Pn101
Pn105
×
{{
Position Loop Gain
2nd position Loop Gain
Pn102
Pn106
×
{{
Moment of Inertia Ratio Pn103 {{ {
Advanced
Control
Friction Compensation Switch Pn408.3
×× ×
Anti-resonance Control Switch Pn160.0
×× ×
Gain
Switching
Gain Switching Switch Pn139.0
×× ×
Software Version* Tuning-less Type Meaning
000A or earlier Tuning-less type 1 −
000B or later Tuning-less type 2 The level of noise produced is lower than that of Type 1.
Parameter Meaning When Enabled Classification
Pn14F
n.0 Tuning-less type 1
After restart Tuning
n.1 Tuning-less type 2 [Factory setting]
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