9.10 Vibration Suppression
9.10.5 Setting Combined Functions
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5.
When the vibration has been eliminated, click the
Finish
Button.
The updated value will be saved in the SERVOPACK.
This concludes the procedure to set up vibration suppression.
9.10.5
Setting Combined Functions
You can also use the feedforward function when you execute vibration suppression.
In the default settings, feedforward (Pn109), the speed feedforward input (VFF), and the torque
feedforward input (TFF) are disabled.
To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model fol-
lowing control from the host controller in the system, set Pn140 to n.1
(Use model follow-
ing control and speed/torque feedforward together).
9.10.6
Related Parameters
The following parameters are automatically adjusted or used as reference when you execute
vibration suppression.
Do not change the settings while vibration suppression is being executed.
Yes: The parameter is automatically set.
No: The parameter is not automatically set, but the setting is read during execution.
Vibration suppression will be enabled in step 5. The motor response, however, will change when
the Servomotor comes to a stop with no reference input.
Important
Parameter
Function
When Enabled
Classification
Pn140
(2140h)
n.0
(default setting)
Do not use model following control and
speed/torque feedforward together.
Immediately Tuning
n.1
Use model following control and speed/
torque feedforward together.
When model following control is used with the feedforward function, it is used to make optimum
feedforward settings in the SERVOPACK. Therefore, model following control is not normally used
together with either the speed feedforward input (VFF) or torque feedforward input (TFF) from the
host controller. However, model following control can be used with the speed feedforward input
(VFF) or torque feedforward input (TFF) if required. An unsuitable feedforward input may result in
overshooting.
Important
Parameter
Name
Automatic Changes
Pn140 (2140h)
Model Following Control-Related Selections
Yes
Pn141 (2141h)
Model Following Control Gain
Yes
Pn142 (2142h)
Model Following Control Correction
No
Pn143 (2143h)
Model Following Control Bias in the Forward Direction
No
Pn144 (2144h)
Model Following Control Bias in the Reverse Direction
No
Pn145 (2145h)
Vibration Suppression 1 Frequency A
Yes
Pn146 (2146h)
Vibration Suppression 1 Frequency B
Yes
Pn147 (2147h)
Model Following Control Speed Feedforward Compensation
No
Pn14A (214Ah)
Vibration Suppression 2 Frequency
No
Pn14B (214Bh)
Vibration Suppression 2 Correction
No
