YASKAWA Sigma-7 SGD7S Series - Page 336

Parameter Meaning When Enabled Classification
Pn160
n.0
Do not adjust anti-reso-
nance control automati-
cally during execution of
autotuning without a host
reference, autotuning
with a host reference,
and custom tuning.
Immediately Tuning
n.1
(default
setting)
Adjust anti-resonance
control automatically
during execution of auto-
tuning without a host ref-
erence, autotuning with
a host reference, and
custom tuning.
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 posi-
tioning.
Normally, set Pn140 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and vibration sup-
pression 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.
Parameter Meaning 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 reference,
and custom tuning.
Immediately Tuning
n.1
(default
setting)
Adjust vibration suppres-
sion automatically during
execution of autotuning
without a host reference,
autotuning with a host
reference, and custom
tuning.
Friction compensation compensates for changes in the following conditions.
n Changes in the viscous resistance of the lubricant, such as grease, on the sliding
parts of the machine
n Changes in the friction resistance resulting from variations in the machine assembly
n Changes in the friction resistance due to aging
The conditions for applying friction compensation depend on the mode selection.
Vibration Suppression
Friction Compensation
Sigma-7 Series SERVOPACKs
Tuning
Autotuning without Host Reference > Automatically Adjusted Function Settings
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