sh030106u.pdf - 第238页

7. SPEC IAL ADJUSTMEN T FUNCT IONS 7 - 9 (1) Function Vibrati on suppr ession co ntr ol is us ed to furt her sup pre ss load- side v ibratio n, such as work -side vi bration and base s hake. T he servo motor-s ide o pera…

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7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 8
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].
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 9
(1) Function
Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration
and base shake. The servo motor-side operation is adjusted for positioning so that the machine does not
vibrate.
Vibration suppression: off (normal)
Servo motor side
Load side
t
Position
Vibration suppression control: on
Servo motor side
Load side
Position
t
When the advanced vibration suppression control II ([Pr. PB02 Vibration suppression control tuning
mode]) is executed, the vibration frequency at load side is automatically estimated to suppress machine
side vibration two times at most.
In the vibration suppression control tuning mode, this mode shifts to the manual setting after the
positioning operation is performed the predetermined number of times. For manual setting, adjust the
vibration suppression control 1 with [Pr. PB19] to [Pr. PB22] and vibration suppression control 2 with [Pr.
PB52] to [Pr. PB55].
(2) Parameter
Set [Pr. PB02 Vibration suppression control tuning mode (advanced vibration suppression control II)].
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection". When you use two vibration suppression controls, set "Vibration suppression control 2 tuning
mode selection" in addition.
[Pr. PB02]
Vibration suppression control 1 tuning mode
00
_ _ _ 0
_ _ _ 1
_ _ _ 2
Setting
value
Vibration suppression control 1
tuning mode selection
Disabled
Automatic setting
Manual setting
PB19/PB20/PB21/PB22
Automatically set parameter
Vibration suppression control 2 tuning mode
_ _ 0 _
_ _ 1 _
_ _ 2 _
Setting
value
Vibration suppression control 2
tuning mode selection
Disabled
Automatic setting
Manual setting
PB52/PB53/PB54/PB55
Automatically set parameter
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 10
(3) Vibration suppression control tuning procedure
The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2,
set "_ _ 1 _" in [Pr. PB02] to execute the vibration suppression control tuning.
No
Vibration suppression control tuning
Operation
Is the target response
reached?
Execute or re-execute vibration
suppression control tuning.
(Set [Pr. PB02] to "_ _ _ 1".)
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 a machine analyzer or
considering load-side vibration
waveform, set the vibration
suppression control manually.
Factor
Estimation cannot be made as load-side vibration
has not been transmitted to the servo motor side.
The response of the model loop gain has
increased to the load-side vibration frequency
(vibration suppression control limit).
Yes
Tuning ends automatically after
positioning operation is performed
the predetermined number of times.
([Pr. PB02] will be "_ _ _ 2" or
"_ _ _ 0".)
Stop operation.
Resume operation.