YASKAWA SGMJV - Page 248

6 Adjustments
6.7.2 Vibration Suppression Function Operating Procedure
6-54
(3) Related Function
This section describes functions related to vibration suppression.
 Feedforward
When the vibration suppression function is performed, the feedforward reference (Pn109), speed feedforward
(V-REF) input, and torque feedforward (T-REF) input will become unavailable.
Set Pn140.3 (4th digit of Pn140) to 1 if model following control is used together with one or both of the fol-
lowing inputs:
• Speed feedforward (V-REF) input
• Torque feedforward (T-REF) input
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6
Press the Key. The "Setting f" will change to
usual display and the frequency currently displayed
will be set for the vibration suppression function
.
7
Press the Key to save the settings.
"DONE" will blink for two seconds and "RUN" will
be displayed.
8
Press the Key to complete the vibration suppres-
sion function. The screen in step 1 will appear again.
Step Display after Operation Keys Operation
㧾㨁㧺㨂㨕㨎㧿㨡㨜

㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦
Error
Torque
reference
㧾㨁㧺  ޓޓ㨂㨕㨎㧿㨡㨜

㧹㨑㨍㨟㨡㨞㨑㨒 㧩㧙㧙㧙㧙㧙㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒 㧩㧜㧝㧞㧚㧠㧴㨦
㧾㨁㧺㧲㨁㧺㧯㨀㧵㧻㧺  
㧲㨚㧞㧜㧠
㧲㨚㧞㧜㧡
㧲㨚㧞㧜㧢
㧲㨚㧞㧜㧣
No settings related to the vibration suppression function will be changed during opera-
tion.
If the motor does not stop approximately 10 seconds after the setting changes, a timeout
error will result and the previous setting will be enabled again.
The vibration suppression function will be enabled when the parameter is set in step 6.
The motor response, however, will change when the motor comes to a stop with no refer-
ence input.
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedfor-
ward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
Parameter Function When Enabled Classification
Pn140
n.0
Model following control is not used together with
speed/torque feedforward input. [Factory setting]
Immediately Tuning
n.1
Model following control is used together with speed/
torque feedforward input.