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7 - 7 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure No Estimation cannot be made as machine e nd vibr ation has n ot been transmitted to the motor end. The response of the model …

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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.
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7. SPECIAL ADJUSTMENT FUNCTIONS
(3) Vibration suppression control tuning mode procedure
No
Estimation cannot be made as
machine end vibration has not been
transmitted to the motor end.
The response of the model loop gain
has increased to the machine end
vibration frequency (vibration
suppression control limit).
Vibration suppression control
tuning adjustment
Operation
Is the target response
reached?
Execute or re-execute vibration
suppression control tuning. (Set
parameter No.PB02 to "0001".)
Decrease the response until vibration
of workpiece end/device is resolved.
End
Yes
No
No
Yes
Increase the response setting.
Has vibration of workpiece
end/device increased?
Has vibration of workpiece
end/device been resolved?
Using the machine analyzer or from
machine end vibration waveform, set
the vibration suppression control
manually.
Factor
Yes
Tuning ends automatically after
operation is performed the
predetermined number of times.
(Parameter No.PB02 turns to "0002"
or "0000".)
Stop operation.
Resume operation.
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7. SPECIAL ADJUSTMENT FUNCTIONS
(4) Vibration suppression control manual mode
Measure work end vibration and device shake with the machine analyzer or external measuring instrument,
and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration
suppression control resonance frequency (parameter No.PB20) to set vibration suppression control
manually.
(a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external FFT
equipment
1Hz
-90deg.
100Hz
Gain characteristic
Phase
Vibration suppression control
vibration frequency
(Anti-resonance frequency)
Parameter No.PB19
Vibration suppression
control resonance
frequency
Parameter No.PB20
Resonance of more
than 100Hz is not the
target of control.
(b) When vibration can be confirmed using monitor signal or external sensor
t t
Motor end vibration
(Droop pulses)
Position command frequency
Vibration cycle [Hz]
Vibration suppression control
vibration frequency
Vibration suppression control
resonance frequency
Set the same value.
External acceleration pick signal, etc.
Vibration cycle [Hz]