Fuji Electric ALPHA7, User Manual

Page: 349 / 662

CHAPTER 5 SERVO ADJUSTMENT
5-32
Special Adjustment (Vibration Suppression)
5
(3) Entering the vibration suppressing anti resonance frequency
Enter the vibration suppressing anti resonance frequency obtained in step (2) to one of parameters
PA1_78, _80, _82 and _84*.
(4) Entering the S-curve
To attain effective vibration suppression, enter the S-curve.
Enter either PA1_51 (moving average S-curve time*) or PA1_52 (low-pass filter for S-curve time
constant).
The approximate reference value is shown below.
* Cannot be set during auto or semi-auto tuning.
While combining the "anti resonance frequency selection 0" and "anti resonance frequency
selection 1" CONT input signals, up to four points can be specified.
The vibration suppressing anti resonance point may vary according
to the arm length and weight of the load.
In such a case, assign this function to CONT input signals and switch the vibration
suppressing anti resonance frequency setting.
* This signal is always handled to be turned off if it is not assigned to the sequence input
signal. In this case, PA1_78 (vibration suppressing anti resonance frequency 0) is always
enabled.
To disable the vibration suppressing anti resonance frequency, set the vibration suppressing
anti resonance frequency at 300.0 Hz.
Be sure to switch while the motion is stopped. Otherwise shock will be caused.
* Parameters for up to four points can be entered.
（
a
） （
b
） （
c
）
The vibration suppressing anti
resonance frequency varies according
to conditions a, b and c.
No. Name Setting range
Default value Change
PA1_78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] (in increments of 0.1) 300.0 Always
PA1_80 Vibration suppressing anti resonance frequency 1 1.0 to 300.0 [Hz] (in increments of 0.1)
300.0
Always
PA1_82 Vibration suppressing anti resonance frequency 2 1.0 to 300.0 [Hz] (in increments of 0.1)
300.0
Always
PA1_84 Vibration suppressing anti resonance frequency 3 1.0 to 300.0 [Hz] (in increments of 0.1)
300.0
Always
Anti resonance frequency
selection 1
Anti resonance frequency
selection 0
OFF OFF
OFF ON
ON OFF
ON ON
Vibration suppressing anti
resonance frequency
PA1_78
PA1_80
PA1_82
PA1_84
*
No. Name Setting range
Default value
Change
PA1_51
Moving average S-curve time* 0 and 2 to 500[× 0.125ms] (in increments of 1) 20 Always
PA1_52
low-pass filter for S-curve time constant 0.0 to 1000.0[ms] (in increments of 0.1) 0.0 Always
*