9.4 Tuning-less Function
9.4.4 Parameters Disabled by Tuning-less Function
9-15
9
T
uning
9.4.4
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.
9.4.5
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 the tuning-less function.
9.4.6
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 (2100h)
Pn104 (2104h)
Speed Loop Integral Time Constant
Second Speed Loop Integral Time Constant
Pn101 (2101h)
Pn105 (2105h)
Position Loop Gain
Second Position Loop Gain
Pn102 (2102h)
Pn106 (2106h)
Moment of Inertia Ratio
Pn103 (2103h)
Advanced Control-Related
Parameters
Friction Compensation Function Selection
Pn408 (2408h) =
n.X
Anti-Resonance Control Selection
Pn160 (2160h)=
n.
X
Gain Selection-Related Parameters
Gain Switching Selection
Pn139 (2139h)=
n.
X
Parameter
Meaning
When Enabled
Classification
Pn460
(2460h)
n.
0
Do not adjust the second stage notch filter
automatically when the tuning-less function is
enabled or during execution of autotuning
without a host reference, autotuning with a
host reference, and custom tuning.
Immediately Tuning
n.
1
(default setting)
Adjust the second stage notch filter automati-
cally when the tuning-less function is enabled
or during execution of autotuning without a
host reference, autotuning with a host refer-
ence, and custom tuning.
Parameter
Name
Pn401 (2401h)
First Stage First Torque Reference Filter Time Constant
Pn40C (240Ch)
Second Stage Notch Filter Frequency
Pn40D (240Dh)
Second Stage Notch Filter Q Value
