Omron R88D-GT series, User Manual

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7-36
7-5 Manual Tuning
7
Adjustment Functions
 Operating Procedure
1. Setting the Vibration Frequency (Frequency 1: Pn2B, Frequency 2: Pn2D)
Measure the vibration frequency at the end of the machine. When the end vibration can be
measured directly using a laser displacement sensor, read the vibration frequency f (Hz) from the
waveform measurement and set it as the Vibration Frequency (Pn2B, Pn2D). If no measurement
device is available, use CX-Drive data tracing function, and read the residual vibration frequency
(Hz) from the position deviation waveform as shown in the following figure.
2. Setting the Vibration Filter (Filter 1: Pn2C, Filter 2: Pn2E)
First, set the Vibration Filter (Pn2C, Pn2E) to 0. The stabilization time can be reduced by setting a
large value; however, torque ripple will increase at the command change point as shown in the
following figure. Set a range that will not cause torque saturation under actual operation conditions.
The effects of vibration suppression will be lost if torque saturation occurs.
• The vibration filter setting is restricted by the following equation.
10.0 Hz
−
Vibration frequency
≤
Vibration filter setting
≤
Vibration frequency
3. Set the Vibration Filter Selection (Pn24).
Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration.
• The following gives the vibration frequency in the
figure.
(Pn2B, Pn2D) = 10 × f
• Example:
When the vibration cycle is 100 ms and 20 ms, the
vibration frequency is 10 Hz and 40 Hz,
therefore set Pn2B = 100, Pn2D = 400.
Pn24 Switching mode
0 No switching (1 and 2 both enabled)
1
Switching with DFSEL/PNSEL input
Open: Vibration filter 1
Closed: Vibration filter 2
2
Switching with command direction
Forward operation: Vibration filter 1
Reverse operation: Vibration filter 2
Command
speed
Position deviation
Calculation of
vibration frequency
Vibration cycle T
1
f (Hz) =
T(s)
Vibration filter
setting appropriate
Torque command
Vibration filter setting too large
Torque saturation