6.Adjustments
Automatic FF vibration suppression frequency tuning
6-12
6.4
Automatic tuning of FF vibration suppression frequency
Set FF vibration suppression frequency to suppress low frequency vibration at the tip or body of the
machine.
Automatic tuning of FF Vibration suppression frequency simply enables the frequency
tune in minimal motion cycle time between the driver and the motor.
1) Operation method
■
Operate from Auto-tuning mode in Software Setup or Digital Operator.
■
The tuning result is automatically saved in Group2 ID00: FF Vibration suppression frequency
“
[SUPFREQ1].
”
■
FF vibration suppression frequency is obtained by executing auto-tuning of vibration
suppression frequency or by calculating vibration frequency from the mechanical vibration
period at the time of positioning.
✔
When vibration does not stop with FF vibration suppression frequency, there is a possibility that the gain for
control system may be too high. In this case, lower the control system gain.
✔
When used together with Higher Tracking Control Velocity Compensation Gain, vibration- suppression effect
may be improved.
✔
FF vibration suppression control function can be used with auto-tuning at the same time.
✔
Holding torque falls while Automatic tuning of FF Vibration Suppression Frequency is executing. Do not use
as gravity axis.
2) Setting parameters
■
Torque command value of Auto-FF vibration suppression frequency
Sets torque command value to motor at the time of Automatic tuning of FF Vibration
Suppression Frequency execution.
◆
General parameters Group0 [Auto-tuning setup]
ID
Symbol
Name
Unit
Setting range
20
ASUPTC
Automatic tuning of FF Vibration
Suppression Frequency Torque Command
%
10.0 to 100.0
✔
As the value increases so does tuning accuracy. However, machine movement will increase as well. Please
monitor it closely.
■
Friction torque compensation amount during Automatic tuning of FF Vibration Suppression
Frequency. Sets additional frictional torque compensation amount when Automatic tuning of FF
Vibration Suppression Frequency is executed. By setting the value close to the actual friction
torque, the accuracy of Automatic tuning of FF Vibration Suppression Frequency can be
improved.
◆
General parameters Group0 [Auto-tuning setup]
ID
Symbol
Name
Unit
Setting range
21
ASUPFC
Automatic tuning of FF Vibration Suppression
Frequency Friction Compensation Value
%
0.0 to 50.0
■
Automatically saved parameter of Automatic tuning of FF Vibration Suppression Frequency.
◆
General parameters Group2 [FF vibration suppression control/Notch filter/ Disturbance observer
settings]
ID
Symbol
Name
Unit
Setting range
00
SUPFRQ1
FF Vibration Suppression Frequency 1
Hz
5 to 500
Summary of Contents for M-EGA-15A2301
Page 149: ...No Text on This Page ...
Page 237: ......