5.2 Tuning-less Function
5-11
5.2 Tuning-less Function
The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration
occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for
the rigidity level and the set value in Pn170.3 for the load level.
5.2.1 Tuning-less Function
The tuning-less function obtains a stable response without manual adjustment regardless of the type of
machine or changes in the load.
(1) Enabling/Disabling Tuning-less Function
The following parameter is used to enable or disable the tuning-less function.
(2) Application Restrictions
The tuning-less function can be used in position control or speed control. This function is not available in
torque 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 the
SV_ON command is received for the first time after the servo drive is mounted to the machine. This sound
does not indicate any problems; it means that the automatic notch filter was set. The sound will not be
heard from the next time the SV_ON command is received. For details on the automatic notch filter, refer
to (3) Automatically Setting the Notch Filter on the next page.
• Set the mode to 2 in Fn200 if a 13-bit encoder is used with the moment of inertia ratio set to x10 or higher.
• The servomotor may vibrate if the load moment of inertia exceeds the allowable load value.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.
Parameter Meaning When Enabled Classification
Pn170
n.0 Disables tuning-less function.
After restart Setup
n.1
[Factory setting]
Enables tuning-less function.
n.0
[Factory setting]
Used as speed control.
n.1
Used as speed control and host controller used as
position control.
Function Availability Remarks
Vibration detection level initialization
(Fn01B)
Available –
Advanced autotuning (Fn201)
Available
(Some conditions apply)
• Execute this function when calculating the
moment of inertia (Jcalc = ON) is set.
• The tuning-less function is disabled while
Fn201 is being executed. It remains dis-
abled after Fn201 is completed.
Advanced autotuning by reference (Fn202)
Not available –
One-parameter tuning (Fn203) Not available –
Anti-resonance control adjustment func-
tion (Fn204)
Not available –
Vibration suppression function (Fn205) Not available –
EasyFFT (Fn206) Available
While this function is being used, the tuning-
less function cannot be used. After
completion of the EasyFFT, it can be used
again.
Friction compensation Not available –
Gain switching Not available –
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