YASKAWA SGMSV User Manual

5.7 Vibration Suppression Function (Fn205)
5-55
5
Adjustments
(3) Related Function on Vibration Suppression Function
This section describes functions related to vibration suppression function.
 Feedforward
The feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be
disabled in the factory setting.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
For the torque feedforward (TFF) input and speed feedforward (VFF) input, refer to the
Σ -V Series/DC Power
Input
Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands
(Manual No.: SIEP S800000 54).
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
.
Example of measured waveform
7
Press the Key to save the setting. "DONE" will
flash for approximately two seconds and "RUN" will
be displayed again.
8
Press the Key to complete the vibration suppres-
sion function. The screen in step 1 will appear again.
(cont’d)
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
Position
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 servomotor does not stop approximately 10 seconds after the setting changes, a
timeout error will result and the previous setting will be automatically enabled again.
The vibration suppression function will be enabled in step 6. The motor response, how-
ever, will change when the servomotor comes to a stop with no reference input.
Parameter Function When Enabled Classification
Pn140
n.0
[Factory setting]
Model following control is not used together with the
speed/torque feedforward input.
Immediately Tuning
n.1
Model following control is used together with the
speed/torque feedforward input.

YASKAWA SGMSV Specifications

General

Brand	YASKAWA
Model	SGMSV
Category	Servo Drives
Language	English