sh030106u.pdf - 第170页

5. PARAMETE RS 5 - 25 No. Sym bol Name and function Initial value [unit] Setting range PB17 NHF Shaft res onance suppression filter This is us ed for setting t he shaft resonance s uppression filt er . This is us ed to s…

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5. PARAMETERS
5 - 24
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB11 VDC Speed differential compensation
This is used to set the differential compensation.
To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID
switching control selection" in [Pr. PB24].
980
0 to
1000
PB12 OVA Overshoot amount compensation
Set a dynamic friction torque in percentage to the rated torque at servo motor rated speed.
Alternatively, set a dynamic friction force in percentage to the continuous thrust at linear servo
motor rated speed.
When the response level is low or when the torque/thrust is limited, the efficiency of the
parameter may be lower.
0
[%]
0 to 100
PB13 NH1 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this
parameter will be adjusted automatically by adaptive tuning.
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],the
setting value will be enabled.
4500
[Hz]
10
to
4500
PB14 NHQ1 Notch shape selection 1
Set the shape of the machine resonance suppression filter 1.
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this
parameter will be adjusted automatically by adaptive tuning.
To enable the setting value, select the manual setting.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x For manufacturer setting 0h
_ _ x _
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0h
_ x _ _
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
0h
x _ _ _ For manufacturer setting 0h
PB15 NH2 Machine resonance suppression filter 2
Set the notch frequency of the machine resonance suppression filter 2.
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance suppression
filter 2 selection" in [Pr. PB16].
4500
[Hz]
10
to
4500
PB16 NHQ2 Notch shape selection 2
Set the shape of the machine resonance suppression filter 2.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x
Machine resonance suppression filter 2 selection
0: Disabled
1: Enabled
0h
_ _ x _
Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0h
_ x _ _
Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
0h
x _ _ _ For manufacturer setting 0h
5. PARAMETERS
5 - 25
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB17 NHF Shaft resonance suppression filter
This is used for setting the shaft resonance suppression filter.
This is used to suppress a low-frequency machine vibration.
When you select "Automatic setting (_ _ _ 0)" of "Shaft resonance suppression filter selection"
in [Pr. PB23], the value will be calculated automatically from the servo motor you use and load
to motor inertia ratio. It will not automatically calculated for the linear servo motor. When
"Manual setting (_ _ _ 1)" is selected, the setting written to the parameter is used.
When "Shaft resonance suppression filter selection" is "Disabled (_ _ _ 2)" in [Pr. PB23], the
setting value of this parameter will be disabled.
When you select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4 selection" in
[Pr. PB49], the shaft resonance suppression filter is not available.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ x x Shaft resonance suppression filter setting frequency selection
This is used for setting the shaft resonance suppression filter.
Refer to table 5.4 for settings.
Set the value closest to the frequency you need.
00h
_ x _ _ Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0h
x _ _ _ For manufacturer setting 0h
Table 5.4 Shaft resonance suppression filter setting
frequency selection
Setting
value
Frequency [Hz]
Setting
value
Frequency [Hz]
_ _ 0 0 Disabled _ _ 1 0 562
_ _ 0 1 Disabled _ _ 1 1 529
_ _ 0 2 4500 _ _ 1 2 500
_ _ 0 3 3000 _ _ 1 3 473
_ _ 0 4 2250 _ _ 1 4 450
_ _ 0 5 1800 _ _ 1 5 428
_ _ 0 6 1500 _ _ 1 6 409
_ _ 0 7 1285 _ _ 1 7 391
_ _ 0 8 1125 _ _ 1 8 375
_ _ 0 9 1000 _ _ 1 9 360
_ _ 0 A 900 _ _ 1 A 346
_ _ 0 B 818 _ _ 1 B 333
_ _ 0 C 750 _ _ 1 C 321
_ _ 0 D 692 _ _ 1 D 310
_ _ 0 E 642 _ _ 1 E 300
_ _ 0 F 600 _ _ 1 F 290
PB18 LPF Low-pass filter setting
Set the low-pass filter.
The following shows a relation of a required parameter to this parameter.
3141
[rad/s]
100 to
18000
[Pr. PB23] [Pr. PB18]
_ _ 0 _ (Initial value) Automatic setting
_ _ 1 _
Setting value
enabled
_ _ 2 _
Setting value
disabled
5. PARAMETERS
5 - 26
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB19 VRF11 Vibration suppression control 1 - Vibration frequency
Set the vibration frequency for vibration suppression control 1 to suppress low-frequency
machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _
_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is
selected, the setting written to the parameter is used. The setting range of this parameter
varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration
suppression control will be disabled. Refer to section 7.1.5 for details.
100.0
[Hz]
0.1
to
300.0
PB20 VRF12 Vibration suppression control 1 - Resonance frequency
Set the resonance frequency for vibration suppression control 1 to suppress low-frequency
machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _
_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is
selected, the setting written to the parameter is used. The setting range of this parameter
varies, depending on the value in [Pr. PB07]. If a value out of the range is set, the vibration
suppression control will be disabled. Refer to section 7.1.5 for details.
100.0
[Hz]
0.1
to
300.0
PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping
Set a damping of the vibration frequency for vibration suppression control 1 to suppress low-
frequency machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _
_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is
selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.
0.00 0.00
to
0.30
PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 1 to suppress low-
frequency machine vibration.
When "Vibration suppression control 1 tuning mode selection" is set to "Automatic setting (_ _
_ 1)" in [Pr. PB02], this parameter will be set automatically. When "Manual setting (_ _ _ 2)" is
selected, the setting written to the parameter is used. Refer to section 7.1.5 for details.
0.00 0.00
to
0.30
PB23 VFBF Low-pass filter selection
Select the shaft resonance suppression filter and low-pass filter.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x
Shaft resonance suppression filter selection
0: Automatic setting
1: Manual setting
2: Disabled
When you select "Enabled (_ _ _ 1)" of "Machine resonance
suppression filter 4 selection" in [Pr. PB49], the shaft resonance
suppression filter is not available.
0h
_ _ x _
Low-pass filter selection
0: Automatic setting
1: Manual setting
2: Disabled
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h