sh030106u.pdf - 第594页

17. APPLICATIO N OF FUNCTIONS 17 - 43 (b) Shaft r esonanc e suppr essi on filt er 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 at […

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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
17. APPLICATION OF FUNCTIONS
17 - 44
(c) Advanced vibration suppression control II
POINT
This is enabled when "Gain adjustment mode selection" is "Auto tuning mode 2
(_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08].
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. PX02].
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] and [Pr. PX03]) 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. PX04] to [Pr. PX07].