sh030106u.pdf - 第236页

7. SPEC IAL ADJUSTMEN T FUNCT IONS 7 - 7 7.1.3 Shaft r esonanc e s uppress ion filter POINT This filter is s et proper ly by default accor ding to ser vo motor yo u use and load moment of i nertia. It is recomme nded th …

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 6

(2) Parameter

Select how to set the filter tuning in [Pr. PB01 Adaptive tuning mode (adaptive filter II)].

[Pr. PB01]

Filter tuning mode selection

Setting

value

Filter tuning mode selection

Disabled

Automatic setting

Manual setting

PB13/PB14

Automatically set parameter

Tuning accuracy selection (Note)

0: Standard

1: High accuracy

Note. This di

it is available with servo amplifier with software version C5 or later.

(3) Adaptive tuning mode procedure

Yes

Execute or re-execute adaptive

tuning in the high accuracy mode.

(Set [Pr. PB01] to "1 _ _ 1".)

In the standard mode In the high accuracy mode

Execute or re-execute adaptive

tuning in the standard mode.

(Set [Pr. PB01] to "0 _ _ 1".)

Tuning ends automatically after the

predetermined period of time.

([Pr. PB01] will be "_ _ _ 2" or "_ _ _

0".)

Adaptive tuning

Operation

Is the target response

reached?

Decrease the response until vibration

or unusual noise is resolved.

End

Yes

Increase the response setting.

Has vibration or unusual

noise occurred?

Has vibration or unusual

noise been resolved?

Using the machine analyzer, set the

filter manually.

Yes

Factor

The response has increased to the machine limit.

The machine is too complicated to provide the

optimum filter.

If assumption fails after tuning is executed at a large vibration or

oscillation, decrease the response setting temporarily down to

the vibration level and execute again.

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 7

7.1.3 Shaft resonance suppression filter

POINT

This filter is set properly by default according to servo motor you use and load

moment of inertia. It is recommended that [Pr. PB23] be set to "_ _ _ 0"

(automatic setting) because changing "Shaft resonance suppression filter

selection" in [Pr. PB23] or [Pr. PB17 Shaft resonance suppression filter] may

lower the performance.

(1) Function

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may

generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses

the vibration.

When you select "Automatic setting", the filter will be set automatically on the basis of the motor you use

and the load to servo motor inertia ratio. The disabled setting increases the response of the servo

amplifier for high resonance frequency.

(2) Parameter

Set "Shaft resonance suppression filter selection" in [Pr. PB23].

[Pr. PB23]

Shaft resonance suppression filter selection

0: Automatic setting

1: Manual setting

2: Disabled

000

To set [Pr. PB17 Shaft resonance suppression filter] automatically, select "Automatic setting".

To set [Pr. PB17 Shaft resonance suppression filter] manually, select "Manual setting". The setting

values are as follows.

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

7. SPECIAL ADJUSTMENT FUNCTIONS

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7.1.4 Low-pass filter

(1) Function

When a ball screw or the like is used, resonance of high frequency may occur as the response level of

the servo system is increased. To prevent this, the low-pass filter is enabled for a torque command as a

default. The filter frequency of the low-pass filter is automatically adjusted to the value in the following

equation.

Filter frequency ([rad/s]) =

1 + GD2

VG2

× 10

However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2

value. To set [Pr. PB18] manually, select "Manual setting (_ _ 1 _)" of "Low-pass filter selection" in [Pr.

PB23].

(2) Parameter

Set "Low-pass filter selection" in [Pr. PB23].

[Pr. PB23]

Low-pass filter selection

0: Automatic setting

1: Manual setting

2: Disabled

00 0

7.1.5 Advanced vibration suppression control II

POINT

The function is enabled when "Gain adjustment mode selection" in [Pr. PA08] is

"Auto tuning mode 2 (_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain adjustment

mode 2 (_ _ _ 4)".

The machine resonance frequency supported in the vibration suppression

control tuning mode is 1.0 Hz to 100.0 Hz. As for the vibration out of the range,

set manually.

Stop the servo motor before changing the vibration suppression control-related

parameters. Otherwise, it may cause an unexpected operation.

For positioning operation during execution of vibration suppression control

tuning, provide a stop time to ensure a stop after vibration damping.

Vibration suppression control tuning may not make normal estimation if the

residual vibration at the servo motor side 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.

When using the vibration suppression control 2, set "_ _ _ 1" in [Pr. PA24].