IAI RCM-P6AC, Instruction Manual

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4. V
ibration Suppress Control Function
Fieldbus Communication
171
RCP6S
[4] Default vibration suppress No. (Parameter No.109)
When a position is written into a position table not registered yet, the initial value set to this
parameter is automatically entered in the “Vibration suppress No.” field. To change the
setting, edit the position table later.
0: Normal positioning control (default)
1: Use Anti-Vibration Control Parameter Set 1
2: Use Anti-Vibration Control Parameter Set 2
3: Use Anti-Vibration Control Parameter Set 3
[5] Stop method at servo OFF (Parameter No.110)
The table below shows the relationship between the values of Parameter No.110 and stop
commands.
4.3 Setting of Position Data
To make the anti-vibration control effective, set the parameter set number to be used in
Anti-Vibration Number Column in Position Data.
(Note) The vibration suppress control function cannot be used in pressing operation.
No. Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
Vibration
suppress
No.
0
1 0.00 50.00 0.01 0.01 0 0 0.10 0.00 0.00 0 0 0 0 0
2 50.00 50.00 0.01 0.01 0 0 0.10 0.00 0.00 0 0 0 0 1
3 50.00 50.00 0.01 0.01 50 0 0.10 0.00 0.00 0 0 0 0 3
4
Stop Method at Servo OFF Setting Value
0 : Sudden Stop 1 : Deceleration and stop
Stop Command
Vibration
suppress
control
Normal
positioning
control
Vibration
suppress
control
Normal
positioning
control
Pause
Anti-vibration
deceleration
stop
Normal
deceleration
and stop
Servo OFF
Emergency Stop
Error
(Operation-cancellation
level alarms)
Sudden stop by
emergency stop torque
Anti-vibration
deceleration
stop
Normal
deceleration
and stop
Error
(Cold start)
Sudden stop by emergency stop torque
Set natural frequency 1 (enabled)
Set natural frequency 3 (Alarm: It cannot be in
common with Error. 0A2
Position Data Error
Pressing Operation.)
ME0349-4B