Fuji Electric ALPHA7, User Manual

Page: 229 / 662

CHAPTER 4 PARAMETER
4-38
Control Gain and Filter Setting Parameters
4
PA1_77 to 86 Vibration suppressing control settings
No. Name Setting range
Default
value Change
77
Automatic vibration suppressing selection 0: Disable 1: Enable
2: IQ area
3: 2 point simultaneous setting
0 Always
78
Vibration suppressing anti resonance frequency 0 1 [Hz] to 300.0 [Hz]
(in increments of 1)
300.0 Always
79
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 0
0 [%] to 80 [%] (in increments of 1) 0 Always
80
Vibration suppressing anti resonance frequency 1 1 [Hz] to 300.0 [Hz]
(in increments of 1)
300.0 Always
81
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 1
0 [%] to 80 [%](in increments of 1) 0 Always
82
Vibration suppressing anti resonance frequency 2 1 [Hz] to 300.0 [Hz]
(in increments of 1)
300.0 Always
83
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 2 0 [%] to 80 [%]
(in increments of 1)
0 Always
84
Vibration suppressing anti resonance frequency 3 1 [Hz] to 300.0 [Hz]
(in increments of 1)
300.0 Always
85
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 3
0 [%] to 80 [%] (in increments of 1) 0 Always
86 Vibration suppressing damping coefficient
0.0000 to 0.1000
0.0000 Always
These parameters are enabled only under position control.
Use these parameters to specify the anti resonance frequency to suppress workpiece vibration
(vibration control).
Set at 300.0 [Hz] (factory shipment setting) to disable vibration suppressing control function.
Set PA1_77 (automatic vibration suppressing control selection) at 1 (enable) to repeat starting and
stopping the motor multiple times while automatically detecting the anti resonance frequency of the
machine and adjusting PA1_78 (vibration suppressing anti resonance frequency 0) to the best value.
To use this function, always reserve 1.5s or longer stopping time.
Use vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 0 to
enter the ratio of a vibrating inertial body such as the arm to the inertia of the entire system.
The enabled parameter is selected through the CONT input signal as shown in the table below.
Anti resonance
frequency 1
Anti resonance
frequency 0
Enabled vibration suppressing
anti resonance frequency
Enabled vibration suppressing
workpiece inertia ratio
OFF OFF PA1_78 PA1_79
OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83
ON ON PA1_84 PA1_85
By setting PA1_77 (Automatic vibration suppressing selection) to “3: 2 point simultaneous setting”, two
anti resonance frequencies can be applied simultaneously.
The anti resonance frequencies that become enabled when this function is used are fixed at PA1_78
(Vibration suppressing anti resonance frequency 0) and PA1_80 (Vibration suppressing anti resonance
frequency 1), and the vibration suppressing anti resonance frequency selected with CONT input signal
becomes disabled.