sh030051g.pdf - 第165页

7 - 8 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or exte rnal measuring instrument, and set the vibration suppressi…

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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]
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7. SPECIAL ADJUSTMENT FUNCTIONS
POINT
When machine end vibration does not show up in motor end vibration, the
setting of the motor end vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be
confirmed using the machine analyzer or external FFT device, do not set the
same value but set different values to improve the vibration suppression
performance.
A vibration suppression control effect is not produced if the relationship
between the model loop gain (parameter No.PB07) value and vibration
frequency is as indicated below. Make setting after decreasing PG1, e.g.
reduce the response setting.
2
1
(1.5 PG1) vibration frequency