sh030106u.pdf - 第597页

17. APPLICATIO N OF FUNCTIONS 17 - 46 3) Vibrati on suppr ession co ntr ol tuning procedur e The foll owing flow ch art is f or the vi bration s uppres sion c ontrol 1. F or the vibratio n suppres sion control 2, set &qu…

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17. APPLICATION OF FUNCTIONS
17 - 45
2) Parameter
Set the advanced vibration suppression control II ([Pr. PB02] and [Pr. PX03]).
When you use a vibration suppression control, set "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02]. When you use two vibration suppression controls, set "Vibration
suppression control 2 tuning mode selection" in [Pr. PX03] 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
0
[Pr. PX03]
00 0
Vibration suppression control 2 tuning mode
_ _ 0 _
_ _ 1 _
_ _ 2 _
Setting value Vibration suppression control 2 tuning mode selection
Disabled
Automatic setting
Manual setting
PX04/PX05/PX06/PX07
Automatically set parameter
17. APPLICATION OF FUNCTIONS
17 - 46
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. PX03] 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.
17. APPLICATION OF FUNCTIONS
17 - 47
4) Vibration suppression control manual mode
POINT
When load-side vibration does not show up in servo motor-side vibration, the
setting of the servo motor-side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external equipment, do not set the same value
but set different values to improve the vibration suppression performance.
The setting range of [Pr. PB19], [Pr. PB20], [Pr. PX04], and [Pr. PX05] varies,
depending on the value in [Pr. PB07]. If a value out of the range is set, the
vibration suppression control will be disabled.
Measure work-side vibration and device shake with the machine analyzer or external measuring
instrument, and set the following parameters to adjust vibration suppression control manually.
Setting item
Vibration suppression
control 1
Vibration suppression
control 2
Vibration suppression control - Vibration
frequency
[Pr. PB19] [Pr. PX04]
Vibration suppression control - Resonance
frequency
[Pr. PB20] [Pr. PX05]
Vibration suppression control - Vibration
frequency damping
[Pr. PB21] [Pr. PX06]
Vibration suppression control - Resonance
frequency damping
[Pr. PB22] [Pr. PX07]
Step 1. Select "Manual setting (_ _ _ 2)" of "Vibration suppression control 1 tuning mode
selection" in [Pr. PB02] or "Manual setting (_ _ 2 _)" of "Vibration suppression control 2
tuning mode selection" in [Pr. PX03].
Step 2. Set "Vibration suppression control - Vibration frequency" and "Vibration suppression
control - Resonance frequency" as follows.
However, the value of [Pr. PB07 Model loop gain], vibration frequency, and resonance frequency
have the following usable range and recommended range.
Vibration suppression
control
Usable range Recommended setting range
Vibration suppression
control 1
[Pr. PB19] > 1/2π × (0.9 × [Pr. PB07])
[Pr. PB20] > 1/2π × (0.9 × [Pr. PB07])
[Pr. PB19] > 1/2π × (1.5 × [Pr. PB07])
[Pr. PB20] > 1/2π × (1.5 × [Pr. PB07])
Vibration suppression
control 2
When [Pr. PB19] < [Pr. PX04],
[Pr. PX04] > (5.0 + 0.1 × [Pr. PB07])
[Pr. PX05] > (5.0 + 0.1 × [Pr. PB07])
1.1 < [Pr. PX04]/[Pr. PB19] < 5.5
[Pr. PB07] < 2π (0.3 × [Pr. PB19] + 1/8 × [Pr. PX04])
When [Pr. PB19] < [Pr. PX04],
[Pr. PX04], [Pr. PX05] > 6.25 Hz
1.1 < [Pr. PX04]/[Pr. PB19] < 4
[Pr. PB07] < 1/3 × (4 × [Pr. PB19] + 2 × [Pr. PX04])