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7 - 5 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No.PB13, PB14) Set the notch frequency, notch depth a nd notch widt h of the machine resonance suppression filter…

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7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
"Filter OFF" enables a return to the factory-set initial value.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual mode.
Adaptive tuning generates the optimum filter with the currently set control
gains. If vibration occurs when the response setting is increased, execute
adaptive tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance,
increase the notch depth in the manual mode.
7.3 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the
specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing
frequency (notch frequency), gain decreasing depth and width.
Mechanical
system
response
level
Machine resonance point
Frequency
Notch
depth
Notch frequency
Frequency
Notch width
Notch depth
You can use the machine resonance suppression filter 1 (parameter No.PB13, PB14) and machine
resonance suppression filter 2 (parameter No.PB15, PB16) to suppress the vibration of two resonance
frequencies. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine
resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual
mode after the predetermined period of time. The manual mode enables manual setting using the machine
resonance suppression filter 1.
Mechanical
system
response
level
Machine resonance point
Frequency
Notch
depth
Parameter No.PB01,
PB13, PB14
Parameter No.PB15,
PB16
Frequency
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7. SPECIAL ADJUSTMENT FUNCTIONS
(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No.PB13, PB14)
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
(parameter No.PB13, PB14)
When you have made adaptive filter tuning mode (parameter No.PB01) "manual mode", set up the
machine resonance suppression filter 1 becomes effective.
POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the MR Configurator. This allows the required notch frequency
and depth to be determined.
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7. SPECIAL ADJUSTMENT FUNCTIONS
7.4 Advanced vibration suppression control
(1) Operation
Vibration suppression control is used to further suppress machine end vibration, such as workpiece end
vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not
shake.
t t
Position
Position
Motor end
Machine end
Motor end
Machine end
Vibration suppression control OFF
(Normal control)
Vibration suppression control ON
When the advanced vibration suppression control (vibration suppression control tuning mode parameter
No.PB02) is executed, the vibration frequency at machine end can automatically be estimated to suppress
machine end vibration.
In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is
performed the predetermined number of times. The manual mode enables manual setting using the
vibration suppression control vibration frequency setting (parameter No.PB19) and vibration suppression
control resonance frequency setting (parameter No.PB20).
(2) Parameter
Select the operation of the vibration suppression control tuning mode (parameter No.PB02).
000
Parameter No.PB02
Vibration suppression control
tuning mode
Setting Vibration suppression control tuning mode Automatically set parameter
0 Vibration suppression control OFF (Note)
1
Vibration suppression control tuning mode
(Advanced vibration suppression control)
Parameter No.PB19
Parameter No.PB20
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.
POINT
The function is made valid when the auto tuning mode (parameter No.PA08)
is the auto tuning mode 2 ("0002") or manual mode ("0003").
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for
vibration outside this range.
Stop the motor before changing the vibration suppression control-related
parameters (parameter No.PB02, PB19, PB20, PB33, PB34). A failure to do
so will cause a shock.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after full vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the motor end is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set
vibration suppression control tuning again.