YASKAWA SERVOPACK Sigma 7S Series, Supplementary Manual

Page: 30 / 47

2.1 Anti-Resonance Control Adjustment
2.1.6 Suppressing Different Vibration Frequencies with Anti-resonance Control
2-6
Required Parameter Settings
The following parameter settings are required to use anti-resonance control for more than one
vibration frequency.
Adjustment Procedure for Suppressing Different Vibration
Frequencies with Anti-resonance Control
Use the following procedure to make adjustments to suppress different vibration frequencies
with anti-resonance control.
Parameter Description
When
Enabled
Classifi-
cation
Pn160
n.

0
(default setting)
Do not use anti-resonance control.
After
restart
Setup
n.

1 Use anti-resonance control.
Pn161
Anti-Resonance Frequency
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 1000 Immediately Tuning
Pn162
Anti-Resonance Gain Correction
Setting Range Setting Unit Default Setting When Enabled Classification
1 to 1,000 1% 100 Immediately Tuning
Pn163
Anti-Resonance Damping Gain
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 300 1% 0 Immediately Tuning
Pn164
Anti-Resonance Filter Time Constant 1 Correction
Setting Range Setting Unit Default Setting When Enabled Classification
-1,000 to 1,000 0.01 ms 0 Immediately Tuning
Pn165
Anti-Resonance Filter Time Constant 2 Correction
Setting Range Setting Unit Default Setting When Enabled Classification
-1,000 to 1,000 0.01 ms 0 Immediately Tuning
Pn166
Anti-Resonance Damping Gain 2
Setting Range Setting Unit Default Setting When Enabled Classification
0 to 1,000 1% 0 Immediately Tuning
Step Operation
1 Adjust the gain and anti-resonance control with the procedure on page 2-3.
2
If there is vibration at a higher frequency than the vibration suppressed with anti-resonance
control in step 1, adjust Pn166 (Anti-Resonance Damping Gain 2).
3
Adjust Pn166 (Anti-Resonance Damping Gain 2) while checking to see if vibration reduction is
effective.
To adjust Pn166 (Anti-Resonance Damping Gain 2), increase the setting by 10% at a time start-
ing from the value that resulted in Pn163 (Anti-Resonance Damping Gain) from the adjustment
in step 1.
4
If the vibration disappears, the adjustment is completed.
However, if the vibration does not disappear even when you adjust Pn166 (Anti-Resonance
Damping Gain 2), reduce the tuning level or feedback level until vibration does not occur.
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque
Speed Position Torque