sh030106u.pdf - 第569页

17. APPLICATIO N OF FUNCTIONS 17 - 18 No. Sym bol Name and function Initial value [unit] Setting range PX04 VRF21 Vibrati on suppression cont rol 2 - Vibration frequency Set the v ibration frequency for vibration suppres…

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17. APPLICATION OF FUNCTIONS
17 - 17
(3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PX01 **J3EX J3 extension function
Select enabled or disabled of the J3 extension function.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x J3 extension function selection
0: Disabled
1: Enabled
When you enable the J3 extension function selection, setting of [Pr.
PX01] to [Pr. PX35] will be enabled and you will be able to also use
functions in J4 mode with J3 compatibility mode. Additionally, the
J3 extension function of the amplifier differs from MR-J3-B in
motion.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PX02 XOP1 Function selection X-1
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Vibration suppression mode selection
0: Standard mode
1: 3 inertia mode
2: Low response mode
When two low resonance frequencies are generated, select "3
inertia mode (_ _ _ 1)". When the load to motor inertia ratio
exceeds the recommended load to motor inertia ratio, select "Low
response mode (_ _ _ 2)".
When you select the standard mode or low response mode,
"Vibration suppression control 2" is not available.
When you select the 3 inertia mode, the feed forward gain is not
available.
Before changing the control mode with the controller during the 3
inertia mode or low response mode, stop the motor.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PX03 VRFTX Vibration suppression control tuning mode (advanced vibration suppression control II)
This is used to set the vibration suppression control tuning. Refer to (5) (c) in this section for
details.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x For manufacturer setting 0h
_ _ x _ Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression control 2. To
enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration
suppression mode selection" in [Pr. PX02 Function selection X-1].
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
17. APPLICATION OF FUNCTIONS
17 - 18
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PX04 VRF21
Vibration suppression control 2 - Vibration frequency
Set the vibration frequency for vibration suppression control 2 to suppress low-frequency
machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _
_ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _
1 _)" in [Pr. PX03], 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 17.1.9
(
5
)
(
c
)
for details.
100.0
[Hz]
0.1
to
300.0
PX05 VRF22 Vibration suppression control 2 - Resonance frequency
Set the resonance frequency for vibration suppression control 2 to suppress low-frequency
machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _
_ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _
1 _)" in [Pr. PX03], 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 17.1.9 (5) (c) for details.
100.0
[Hz]
0.1
to
300.0
PX06 VRF23 Vibration suppression control 2 - Vibration frequency damping
Set a damping of the vibration frequency for vibration suppression control 2 to suppress low-
frequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _
_ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _
1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is
selected, the setting written to the parameter is used. Refer to section 17.1.9 (5) (2) for details.
0.00
0.00
to
0.30
PX07 VRF24 Vibration suppression control 2 - Resonance frequency damping
Set a damping of the resonance frequency for vibration suppression control 2 to suppress low-
frequency machine vibration.
To enable the setting value, set "Vibration suppression mode selection" to "3 inertia mode (_ _
_ 1)" in [Pr. PX02].
When "Vibration suppression control 2 tuning mode selection" is set to "Automatic setting (_ _
1 _)" in [Pr. PX03], this parameter will be set automatically. When "Manual setting (_ _ 2 _)" is
selected, the setting written to the parameter is used. Refer to section 17.1.9 (5) (2) for details.
0.00
0.00
to
0.30
PX08 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching
Set the vibration frequency for vibration suppression control 2 when the gain switching is
enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX04].
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in
[Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _
2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
When you set "0.0", the value will be the same as [Pr. PX04].
Switching during driving may cause a shock. Be sure to switch them after the servo motor or
linear servo motor stops.
0.0
[Hz]
0.0
to
300.0
17. APPLICATION OF FUNCTIONS
17 - 19
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PX09 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching
Set the resonance frequency for vibration suppression control 2 when the gain switching is
enabled.
When you set a value less than 0.1 Hz, the value will be the same as [Pr. PX05].
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in
[Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _
2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
When you set "0.0", the value will be the same as [Pr. PX05].
Switching during driving may cause a shock. Be sure to switch them after the servo motor or
linear servo motor stops.
0.0
[Hz]
0.0
to
300.0
PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching
Set a damping of the vibration frequency for vibration suppression control 2 when the gain
switching is enabled.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in
[Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _
2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or
linear servo motor stops.
0.00
0.00
to
0.30
PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching
Set a damping of the resonance frequency for vibration suppression control 2 when the gain
switching is enabled.
To enable this, select "3 inertia mode (_ _ _ 1)" of "Vibration suppression mode selection" in
[Pr. PX02].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Vibration suppression control 2 tuning mode selection" in [Pr. PX03] is "Manual setting (_ _
2 _)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or
linear servo motor stops.
0.00
0.00
to
0.30
PX12 PG1B Model loop gain after gain switching
Set the model loop gain when the gain switching is enabled.
When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB07].
This parameter will be enabled only when the following conditions are fulfilled.
"Gain adjustment mode selection" in [Pr. PA08] is "Manual mode (_ _ _ 3)".
"Gain switching selection" in [Pr. PB26] is "Control command from controller is enabled (_ _
_ 1)".
Switching during driving may cause a shock. Be sure to switch them after the servo motor or
linear servo motor stops.
0.0
[rad/s]
0.0
to
2000.0