sh030106u.pdf - 第593页

17. APPLICATIO N OF FUNCTIONS 17 - 42 2) Parameter a) Machine res onance s uppre ssion filter 1 ([Pr . PB13] /[Pr . PB14 ]) Set the notch frequ ency, no tch dep th and notch widt h of the mac hine r esona nce suppres sio…

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17. APPLICATION OF FUNCTIONS
17 - 41
1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the
gain of the specific frequency to suppress the resonance of the mechanical system. You can set
the gain decreasing frequency (notch frequency), gain decreasing depth and width.
Response of
mechanical system
Notch
characteristics
Machine resonance point
Notch frequency
Frequency
Frequency
Notch width
Notch depth
You can set five machine resonance suppression filters at most.
Filter Setting parameter Precaution
Parameter that is
reset with vibration
tough drive function
Parameter
automatically
adjusted with one-
touch tuning
Machine resonance
suppression filter 1
PB01/PB13/PB14
The filter can be set automatically with
"Filter tuning mode selection" in [Pr.
PB01].
PB13 PB01/PB13/PB14
Machine resonance
suppression filter 2
PB15/PB16 PB15 PB15/PB16
Machine resonance
suppression filter 3
PX17/PX18 PX17/PX18
Machine resonance
suppression filter 4
PX19/PX20
Enabling the machine resonance
suppression filter 4 disables the shaft
resonance suppression filter.
Using the shaft resonance suppression
filter is recommended because it is
adjusted properly depending on the
usage situation.
The shaft resonance suppression filter is
enabled for the initial setting.
PX19/PX20
Machine resonance
suppression filter 5
PX21/PX22
Enabling the robust filter disables the
machine resonance suppression filter 5.
The robust filter is disabled for the initial
setting.
PX22
17. APPLICATION OF FUNCTIONS
17 - 42
2) Parameter
a) Machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14])
Set the notch frequency, notch depth and notch width of the machine resonance suppression
filter 1 ([Pr. PB13]/[Pr. PB14])
When you select "Manual setting (_ _ _ 2)" of "Filter tuning mode selection" in [Pr. PB01], the
setting of the machine resonance suppression filter 1 is enabled.
b) Machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 2
selection" in [Pr. PB16].
How to set the machine resonance suppression filter 2 ([Pr. PB15]/[Pr. PB16]) is the same as
for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
c) Machine resonance suppression filter 3 ([Pr. PX17]/[Pr. PX18])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 3
selection" in [Pr. PX18].
How to set the machine resonance suppression filter 3 ([Pr. PX17]/[Pr. PX18]) is the same as
for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
d) Machine resonance suppression filter 4 ([Pr. PX19]/[Pr. PX20])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 4
selection" in [Pr. PX20]. However, enabling the machine resonance suppression filter 4
disables the shaft resonance suppression filter.
How to set the machine resonance suppression filter 4 ([Pr. PX19]/[Pr. PX20]) is the same as
for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
e) Machine resonance suppression filter 5 ([Pr. PX21]/[Pr. PX22])
To use this filter, select "Enabled (_ _ _ 1)" of "Machine resonance suppression filter 5
selection" in [Pr. PX22]. However, enabling the robust filter ([Pr. PX31]: _ _ _ 1) disables the
machine resonance suppression filter 5.
How to set the machine resonance suppression filter 5 ([Pr. PX21]/[Pr. PX22]) is the same as
for the machine resonance suppression filter 1 ([Pr. PB13]/[Pr. PB14]).
17. APPLICATION OF FUNCTIONS
17 - 43
(b) 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 servo
motor you use and the load to 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