sh030106u.pdf - 第591页

17. APPLICATIO N OF FUNCTIONS 17 - 40 (5) Filter s etting The foll owing filt ers ar e availa ble wi th the J3 extensi on func t ion. Command pulse train Command filter Low-pass filter setting Encoder Servo motor PWM M L…

17. APPLICATION OF FUNCTIONS

17 - 39

1) Caution common for user command method and amplifier command method

a) The tuning is not available in the torque control mode.

b) The one-touch tuning cannot be executed while an alarm or warning which does not continue

the motor driving is occurring.

c) The one-touch tuning cannot be executed during the following test operation mode.

Output signal (DO) forced output

Motor-less operation

d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or

unusual noise may occur during the tuning.

2) Caution for amplifier command method

a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error

code, and the one-touch tuning cannot be executed.

b) One-touch tuning is not available during the test operation mode. The following test operation

modes cannot be executed during one-touch tuning.

Positioning operation

JOG operation

Program operation

Machine analyzer operation

c) After one-touch tuning is executed, control will not be performed by commands from the servo

system controller. To return to the state in which control is performed from the servo system

controller, reset the controller or cycle the power of the servo amplifier.

d) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot,

set a value sufficient to prevent machine collision.

e) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr.

PA08 Auto tuning mode], the load to motor inertia ratio will not be estimated. An optimum

acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia

ratio/load to motor mass ratio] at the start of one-touch tuning. When the load to motor inertia

ratio is incorrect, the optimum acceleration/deceleration command may not be generated,

causing the tuning to fail.

f) When one-touch tuning is started by using USB communication, if the USB communication is

interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The

parameter will return to the one at the start of the one-touch tuning.

g) When one-touch tuning is started via the controller, if communication between the controller

and the servo amplifier or personal computer is shut-off during the tuning, the servo motor will

stop, and the tuning will also stop. The parameter will return to the one at the start of the one-

touch tuning.

h) When one-touch tuning is started during the speed control mode, the mode will be switched to

the position control mode automatically. The tuning result may differ from the one obtained by

executing tuning by using the speed command.

17. APPLICATION OF FUNCTIONS

17 - 40

(5) Filter setting

The following filters are available with the J3 extension function.

Command

pulse train

Command

filter

Low-pass

filter

setting

Encoder

Servo motor

PWM

Load

[Pr. PB18]

Machine

resonance

suppression

filter 1

[Pr. PB13] [Pr. PB15]

Machine

resonance

suppression

filter 2

Machine

resonance

suppression

filter 3

Machine

resonance

suppression

filter 4

Machine

resonance

suppression

filter 5

Shaft

resonance

suppression

filter

Robust filter

[Pr. PB17]

Speed

control

[Pr. PX17]

[Pr. PX19] [Pr. PX21]

[Pr. PX20] [Pr. PX31]

(a) Machine resonance suppression filter

POINT

The machine resonance suppression filter is a delay factor for the servo system.

Therefore, vibration may increase if you set an incorrect resonance frequency or

set notch characteristics too deep or too wide.

If the frequency of machine resonance is unknown, decrease the notch

frequency from higher to lower ones in order. The optimum notch frequency is

set at the point where vibration is minimal.

A deeper notch has a higher effect on machine resonance suppression but

increases a phase delay and may increase vibration.

A wider notch has a higher effect on machine resonance suppression but

increases a phase delay and may increase vibration.

The machine characteristic can be grasped beforehand by the machine analyzer

on MR Configurator2. This allows the required notch frequency and notch

characteristics to be determined.

If a mechanical system has a unique resonance point, increasing the servo system response level

may cause resonance (vibration or unusual noise) in the mechanical system at that resonance

frequency. Using the machine resonance suppression filter and adaptive tuning can suppress the

resonance of the mechanical system. The setting range is 10 Hz to 4500 Hz.

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

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