8.4 Tuning-less Function
8.4.4 Parameters Disabled by Tuning-less Function
8
T
uning
8-15
8.4.4
Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled (Pn170 = n.
1) (default setting), the parameters in
the following table are disabled.
The tuning-less function is disabled during torque control, Easy FFT, and mechanical analysis
for a vertical axis. The gain-related parameters in the above table are enabled for torque con-
trol, Easy FFT, and mechanical analysis. Of these, Pn100, Pn103, and Pn104 are enabled for
torque control.
8.4.5
Automatically Adjusted Function Setting
You can also automatically adjust notch filters.
Normally, set Pn460 to n.
1
(Adjust automatically) (default setting). Vibration is automati-
cally detected and a notch filter is set.
Set Pn460 to n.
0
(Do not adjust automatically) only if you do not change the setting of the
notch filter before you execute this function.
8.4.6
Related Parameters
The following parameters are automatically adjusted when you execute the tuning-less func-
tion.
Do not manually change the settings of these parameters after you have enabled the tuning-
less function.
Item
Parameter Name
Parameter Number
Gain-Related Parameters
Speed Loop Gain
Second Speed Loop Gain
Pn100
Pn104
Speed Loop Integral Time Constant
Second Speed Loop Integral Time Constant
Pn101
Pn105
Position Loop Gain
Second Position Loop Gain
Pn102
Pn106
Moment of Inertia Ratio
Pn103
Advanced Control-Related
Parameters
Friction Compensation Function Selection
Pn408 = n.X
Anti-Resonance Control Selection
Pn160 = n.
X
Gain Selection-Related
Parameters
Gain Switching Selection
Pn139 = n.
X
Parameter
Meaning
When Enabled
Classification
Pn460
n.
0
Do not adjust the second stage notch filter
automatically during execution of autotun-
ing without a host reference, autotuning with
a host reference, and custom tuning.
Immediately
Tuning
n.
1
(default setting)
Adjust the second stage notch filter auto-
matically during execution of autotuning
without a host reference, autotuning with a
host reference, and custom tuning.
Parameter
Name
Pn401
First Stage First Torque Reference Filter Time Constant
Pn40C
Second Stage Notch Filter Frequency
Pn40D
Second Stage Notch Filter Q Value
