Fuji Electric ALPHA7, User Manual

Page: 350 / 662

CHAPTER 5 SERVO ADJUSTMENT
Special Adjustment (Vibration Suppression)
5-33
5
PA1_78/80/82/84
(Vibration suppressing anti
resonance frequency)
< 10Hz
10Hz to 20Hz
> 20Hz
α／β
*1
≦ 2000 （ PG=24bit ）
10ms
5ms
2 to 3ms
20ms
10ms
5ms
PA1_51
*2
(Moving average
S-curve time)
α／β
*1
≦ 10000 （ PG=24bit ）
PA1_52
(Low-pass filter for
S-curve time constant)
PA1_51
*2
(Moving average
S-curve time)
PA1_52
(Low-pass filter for
S-curve time constant)
80
40
16 to 24
160
80
40
PA1_06 (numerator 0 of electronic gear)
PA1_07 (denominator of electronic gear)
=
β
α
* 1
* 2 Cannot be set during auto or semi-auto tuning.
(5) Checking the effects
There are three checking methods.
(1) Observe vibration of the arm tip with a laser displacement gauge or similar measuring
instrument.
(2) Take a motion picture of the arm tip with a high speed video to check vibration.
(3) Visually observe.
The vibration suppressing anti resonance frequency is not reflected on the servo
analyze function even if it is entered.
Gain
Frequency
(6) Finely adjusting the vibration suppressing anti resonance frequency
While checking effects of vibration suppression, finely adjust the reference value (in increments of
0.1 or 0.2).
Anti resonance
point remains.